US 12,304,083 B2
Legged robot motion control method, apparatus, and device, and medium
Yu Zheng, Shenzhen (CN); Xinyang Jiang, Shenzhen (CN); Wanchao Chi, Shenzhen (CN); and Zhengyou Zhang, Shenzhen (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed by TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed on Oct. 20, 2022, as Appl. No. 17/969,999.
Application 17/969,999 is a continuation of application No. PCT/CN2021/102721, filed on Jun. 28, 2021.
Claims priority of application No. 202010927326.4 (CN), filed on Sep. 7, 2020.
Prior Publication US 2023/0055206 A1, Feb. 23, 2023
Int. Cl. B62D 57/032 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/1664 (2013.01) [B62D 57/032 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A legged robot motion control method, performed by a control device and comprising:
acquiring centroid state data respectively corresponding to a spatial path start point and a spatial path end point of a motion path of a legged robot;
determining a target landing point of a foot of the legged robot in the motion path based on the spatial path start point and the spatial path end point;
determining a change relationship between a centroid position change coefficient and a foot contact force based on the centroid state data respectively corresponding to the spatial path start point and the spatial path end point;
selecting, under constraint of a constraint condition set, a target centroid position change coefficient that meets the change relationship, wherein the constraint condition set comprises at least a spatial landing point constraint condition, and the spatial landing point constraint condition constrains a value of the centroid position change coefficient for the legged robot to reach the target landing point;
determining a target motion control parameter according to the target centroid position change coefficient and the target landing point of the foot; and
controlling, based on the target motion control parameter, the legged robot to perform motion according to the motion path.