CPC B25J 9/1605 (2013.01) [B25J 9/1633 (2013.01); B62D 57/022 (2013.01); G05B 19/4155 (2013.01); G05B 2219/50391 (2013.01)] | 20 Claims |
1. A computer-implemented balance control method for a biped robot, comprising:
equivalenting a foot of a support leg of the biped robot to a massless link of a Linear Inverted Pendulum plus Flywheel Model, and equivalenting rest parts of the biped robot to a flywheel of the Linear Inverted Pendulum plus Flywheel Model; and
controlling a posture of the foot of the support leg based on the Linear Inverted Pendulum plus Flywheel Model;
wherein the controlling the posture of the foot of the support leg based on the flywheel model comprises:
determining a first rotation matrix of the foot of the support leg in a world coordinate system;
calculating a first posture angle of the foot of the support leg in the world coordinate system based on the first rotation matrix; and
controlling the robot to apply a torque to the foot of the support leg according to the first posture angle; and
wherein the determining the first rotation matrix of the foot of the support leg in the world coordinate system comprises:
obtaining a second posture angle of a body of the robot in the world coordinate system;
calculating a second rotation matrix of the body of the robot in the world coordinate system based on the second posture angle;
determining a third rotation matrix of the foot of the support leg of the robot relative to the body of the robot according to forward kinematics; and
calculating the first rotation matrix based on the second rotation matrix and the third rotation matrix.
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