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HUMANOID ROBOT CONTROL METHOD, HUMANOID ROBOT USING THE SAME, AND COMPUTER READABLE STORAGE MEDIUM
HUMANOID ROBOT CONTROL METHOD, HUMANOID ROBOT USING THE SAME, AND COMPUTER READABLE STORAGE MEDIUM
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机译:仿人机器人控制方法,类人机器人使用相同的、计算机可读存储媒介
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摘要
A humanoid robot control method, a mobile machine using the same, and a computer readable storage medium are provided. The method includes: mapping posture information of leg joints of a human body to leg joint servos of a humanoid robot to obtain an expected rotation angle and an expected rotation angular velocity of non-target optimized joint servos of the leg joint servos and an expected rotation angle and an expected rotation angular velocity of target optimized joint servos of the leg joint servos; obtaining an optimization objective function corresponding to the target optimized joint servos of the leg joint servos; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint servos to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the target optimized joint servos; and controlling each of the leg joint servos of the humanoid robot.
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