US 11,691,284 B2
Robot control method, computer-readable storage medium and robot
Chunyu Chen, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Ligang Ge, Shenzhen (CN); Zheng Xie, Shenzhen (CN); Hongge Wang, Shenzhen (CN); Youjun Xiong, Shenzhen (CN); and Jianxin Pang, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 13, 2020, as Appl. No. 17/120,225.
Claims priority of application No. 201911279287.5 (CN), filed on Dec. 13, 2019.
Prior Publication US 2021/0178587 A1, Jun. 17, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B62D 57/032 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 9/1651 (2013.01); B25J 9/1694 (2013.01); B25J 13/085 (2013.01); B25J 13/088 (2013.01); B62D 57/032 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A computer-implemented method executed by one or more processors of a robot, the method comprising:
obtaining force information associated with a left foot and a right foot of the robot, wherein the force information is obtained by sensors respectively arranged at connecting portions between the left foot and a left leg of the robot, and between the right foot and a right leg of the robot;
calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information;
updating a motion trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body;
performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and
controlling the robot to move according to the joint angles;
wherein updating the motion trajectory of the robot according to the zero moment point of the COM of the body to obtain the updated position of the COM of the body, comprises:
determining a desired zero moment point and a desired position of the COM of the body according to the motion trajectory of the robot;
acquiring an actual position of the COM of the body, and calculating acceleration of the COM of the body according to the zero moment point, the actual position, the desired zero moment point, and the desired position of the COM of the body;
calculating magnitude of change in position of the COM of the body based on the acceleration of the COM of the body and speed of the COM of the body at a previous moment; and
calculating the updated position of the COM of the body according to the desired position of the COM of the body and the magnitude of change in position of the COM of the body.