US 12,440,981 B2
Robot control method, robot and storage medium
Guokang Sun, Beijing (CN); Sheng Cao, Beijing (CN); Quanbin Xin, Beijing (CN); Yinghao Gao, Beijing (CN); Zebang Zhang, Beijing (CN); Zeyu Ren, Beijing (CN); Chenguang Sun, Beijing (CN); Jiajun Zhang, Beijing (CN); Wenping Guo, Beijing (CN); and Diyun Xiang, Beijing (CN)
Assigned to Beijing Xiaomi Robot Technology Co., Ltd., Beijing (CN)
Filed by Beijing Xiaomi Robot Technology Co., Ltd., Beijing (CN)
Filed on May 24, 2023, as Appl. No. 18/201,690.
Claims priority of application No. 202211678711.5 (CN), filed on Dec. 26, 2022.
Prior Publication US 2024/0217101 A1, Jul. 4, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 11/00 (2006.01)
CPC B25J 9/1664 (2013.01) [B25J 11/004 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robot control method, a robot achieving a performing effect by beating a musical instrument through limbs movements, the method comprising:
obtaining a beaten position of the musical instrument and a joint configuration parameter of a limb of the robot at a moment when the robot beats the musical instrument;
determining a motion trajectory of an end of the limb of the robot in a beating action period according to the beaten position of the musical instrument, a preset contact speed between the robot and the musical instrument, the beating action period of the robot, a position of the end of the limb of the robot at a starting moment of the beating action period and a special position of a beating action, wherein the special position of the beating action is a position where the end of the limb of the robot is at a middle moment of the beating action period;
generating a joint control quantity of the limb of the robot in the beating action period according to the motion trajectory of the end of the limb of the robot and the joint configuration parameter of the limb of the robot at the moment when the robot beats the musical instrument, and controlling the robot to beat the musical instrument according to the joint control quantity; and
in response to determining that a correction parameter sent by a user is received, adjusting the preset contact speed between the robot and the musical instrument and/or the special position of the beating action according to the correction parameter, to update the joint control quantity, and controlling the robot to beat the musical instrument according to the updated joint control quantity;
wherein determining the motion trajectory of the end of the limb of the robot in the beating action period according to the beaten position of the musical instrument, the preset contact speed between the robot and the musical instrument, the beaten action period of the robot, the position of the end of the limb of the robot at the starting moment of the beating action period and the special position of the beating action comprises:
determining a position control quantity of the end of the limb of the robot in the beating action period based on a first polynomial interpolation function, and
determining a speed control quantity of the end of the limb of the robot in the beating action period based on a second polynomial interpolation function;
wherein polynomial coefficients of the first polynomial interpolation function and the second polynomial interpolation function are determined through the beaten position of the musical instrument, the preset contact speed between the robot and the musical instrument, the beating action period of the robot, the position of the end of the limb of the robot at the starting moment of the beating action period and the special position of the beating action.