An inverse kinematics calculation method for mass center of humanoid robot

摘要

The present invention relates to a method and apparatus for adjusting a robot center position, a robot and a data storage medium. The method includes a step of obtaining the initial value of the waist posture, the initial value of the head posture, and the initial value of the central position by the three mass block models and the central position plan value, and the waist posture change and the central position initial value and the central position plan value. A step of obtaining a waist speed adjustment value by using a linear positive correlation corresponding to a change in the center position, a step of obtaining the current center position value by calculating the initial value of the waist posture, the waist speed adjustment value, and the initial value of the head posture; Compare whether the current position value is consistent with the central position plan value, and if not, obtain the central position current value and use it as the next central position initial value until the central position current value matches the central position plan value. and returning and executing the step according to the center position plan value, and generating a target control system command according to the center position present value if they match. By the above method, it is possible to improve the balance capability of the robot.