US 12,076,860 B2
Control method for robot, computer-readable storage medium and robot
Ligang Ge, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Chunyu Chen, Shenzhen (CN); Zheng Xie, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 23, 2021, as Appl. No. 17/561,609.
Claims priority of application No. 202011547522.5 (CN), filed on Dec. 24, 2020.
Prior Publication US 2022/0203521 A1, Jun. 30, 2022
Int. Cl. B62D 57/032 (2006.01); B25J 9/16 (2006.01); B62D 57/024 (2006.01)
CPC B25J 9/1602 (2013.01) [B25J 9/1633 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented control method for a robot, comprising:
determining a desired zero moment point (ZMP) of the robot;
obtaining a position of a left foot and a position of a right foot of the robot, and calculating a desired support force of the left foot and a desired support force of the right foot according to the desired ZMP, the position of the left foot and the position of the right foot;
obtaining a measured support force of the left foot and a measured support force of the right foot, and calculating an amount of change in length of the left leg and an amount of change in length of the right leg according to the desired support force of the left foot, the desired support force of the right foot, the measured support force of the left foot, and the measured support force of the right foot, wherein the left leg and the right leg are equivalent to a spring model, the length of the left leg and the length of the right leg are adjusted based on the spring model, the change in the length of the left leg comprises elongation and shortening in the length of the left leg equivalent to the spring model, and the change in the length of the right leg comprises elongation and shortening in the length of the right leg equivalent to the spring model; and
controlling the robot to walk according to the amount of change in length of the left leg and the amount of change in length of the right leg;
wherein calculating the desired support force of the left foot and the desired support force of the right foot comprises:
calculating a support force distribution coefficient according to the desired ZMP, the position of the left foot, and the position of the right foot; and
calculating the desired support force of the left foot and the desired support force of the right foot according to the supporting force distribution coefficient and a mass of the robot;
wherein the support force distribution coefficient is calculated according to the following equation:

OG Complex Work Unit Math
where py represents the desired ZMP, plf represents the position of the left foot, prf represents the position of the right foot, and Kf represents the support force distribution coefficient.