Title:
METHOD AND APPARATUS FOR CONTROLLING LEGGED ROBOT, ELECTRONIC DEVICE, COMPUTER-READABLE STORAGE MEDIUM, COMPUTER PROGRAM PRODUCT AND LEGGED ROBOT
Document Type and Number:
WIPO Patent Application WO/2024/021744
Kind Code:
A1
Abstract:
Provided is a method for controlling a legged robot, wherein the legged robot comprises a base and at least two mechanical legs, and each mechanical leg comprises at least one joint. The method for controlling a legged robot comprises: in response to the legged robot descending to contact a flat surface, determining a first expected path corresponding to the legged robot, and determining a second expected path corresponding to the legged robot, wherein the first expected path indicates an expected path of the center of mass of the legged robot, and the second expected path indicates expected paths of foot ends of the at least two mechanical legs; and controlling, on the basis of a dynamics model corresponding to the legged robot, the first expected path and the second expected path, the action of each joint after the legged robot contacts the flat surface. Further provided are an apparatus for controlling a legged robot, an electronic device, a computer-readable storage medium, a computer program product and a legged robot.
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Inventors:
WANG SHUAI (CN)
ZHENG YU (CN)
CHI WANCHAO (CN)
ZHANG JINGFAN (CN)
ZHENG YU (CN)
CHI WANCHAO (CN)
ZHANG JINGFAN (CN)
Application Number:
PCT/CN2023/092460
Publication Date:
February 01, 2024
Filing Date:
May 06, 2023
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
B25J9/16
Foreign References:
| CN113359800A | 2021-09-07 | |||
| CN114474034A | 2022-05-13 | |||
| CN114137992A | 2022-03-04 | |||
| CN113524177A | 2021-10-22 | |||
| US20130079929A1 | 2013-03-28 |
Attorney, Agent or Firm:
CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)
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