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公开(公告)号：EP4394757A1
公开(公告)日：2024-07-03
申请号：EP23176126.3
申请日：2023-05-30
发明人： SUN, Guokang , CAO, Sheng , XIN, Quanbin , GAO, Yinghao , ZHANG, Zebang , REN, Zeyu , SUN, Chenguang , ZHANG, Jiajun , GUO, Wenping , XIANG, Diyun
CPC分类号： G10H1/40 , G10H1/00 , B25J11/004 , B25J9/1679 , B25J9/1664 , B25J9/1628
摘要： A robot control method includes: obtaining (S101) relevant parameters at a moment when the robot beats the musical instrument, calculating (S102) a motion trajectory of an end of a limb of the robot in a beating action period, and obtaining (S103) a joint control quantity of the corresponding limb of the robot, so that the robot beats the musical instrument according to the joint control quantity, and a beating action is corrected according to a correction parameter input by a user (S 104) until the performance effect of the robot meets the requirements.
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公开(公告)号：EP4382265A1
公开(公告)日：2024-06-12
申请号：EP23170045.1
申请日：2023-04-26
发明人： SUN, Guokang , CAO, Sheng , XIN, Quanbin , GAO, Yinghao , ZHANG, Zebang , REN, Zeyu , SUN, Chenguang , ZHANG, Jiajun , GUO, Wenping , XIANG, Diyun
IPC分类号： B25J11/00
CPC分类号： B25J11/004 , G05B2219/4041120130101
摘要： A motion control method applied to a robot and the robot are provided. The method includes: obtaining (S101) a music file to be performed, wherein the music file comprises a plurality of playing times and at least one played musical instrument at each playing time; determining (S102) a head position at each playing time according to the at least one played musical instrument at each playing time; and controlling (S103) a playing part and a head of the robot to execute a playing action, according to the at least one played musical instrument and the head position at each playing time, to allow a corresponding played musical instrument to generate a sound and allow the head to be in a corresponding head position at each playing time.
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公开(公告)号：EP4375170A1
公开(公告)日：2024-05-29
申请号：EP23164343.8
申请日：2023-03-27
发明人： SHI, Xuanyang
IPC分类号： B62D57/024 , B62D57/032
CPC分类号： B62D57/032 , G05B2219/4508320130101
摘要： A motion control method includes: acquiring (S101) a current state parameter of a robot in response to determining that the robot is in a single-foot supporting state; and determining (S102), based on a first preset function and a preset angular momentum value, the position of the centroid of the robot relative to a swing foot at an end moment of the current single-foot supporting state according to the current state parameter of the robot, such that an angular momentum of the centroid relative to the support foot at an end moment of a next single-foot supporting state reaches the angular momentum value, and controlling (S103) the robot to walk according to the position of the centroid of the robot relative to the swing foot at the end moment of the current single-foot supporting state.
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公开(公告)号：EP4378637A1
公开(公告)日：2024-06-05
申请号：EP23207338.7
申请日：2023-11-02
发明人： XU, Zhe
IPC分类号： B25J9/16 , B62D57/02 , B62D57/032
CPC分类号： B25J9/1664 , B62D57/032 , G05B2219/4039520130101
摘要： The present disclosure provides a motion control method and apparatus, a robot and a non-transitory storage medium. The method includes: obtaining a jump parameter of the robot, the jump parameter including an expected velocity and an expected jump height before take-off of the robot; obtaining a jump trajectory corresponding to the jump parameter in a preset action library, the action library including a jump trajectory that is marked with a corresponding jump parameter; and controlling the robot to reach the expected velocity, and controlling the robot to jump according to the jump trajectory.
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公开(公告)号：EP4008498B1
公开(公告)日：2024-03-06
申请号：EP21207728.3
申请日：2021-11-11
发明人： XU, Haiwang
IPC分类号： B25J9/16 , B25J19/02 , B62D57/032
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公开(公告)号：EP4389570A1
公开(公告)日：2024-06-26
申请号：EP23207089.6
申请日：2023-10-31
发明人： XIE, Yan
IPC分类号： B62D57/032
CPC分类号： B62D57/032
摘要： The present disclosure discloses a method and apparatus for controlling robot motion, a device and a storage medium, which belongs to the field of robot motion control technologies. The method includes: determining a remaining duration of a current stepping cycle, wherein the remaining duration is a duration from a current moment to an end moment of the current stepping cycle; predicting, based on the remaining duration, an expected velocity of a robot, a first center of mass position and a first instantaneous velocity of the robot at the current moment, and a state space equation, a second center of mass position and a second instantaneous velocity of the robot at the end moment of the current stepping cycle; determining, based on the expected velocity, the second center of mass position and the second instantaneous velocity, a stable foothold position corresponding to the current stepping cycle; determining, based on the stable foothold position and the second center of mass position, a motion parameter corresponding to each joint in the robot associated with stepping; and controlling the robot based on the motion parameter corresponding to each joint. By means of the solution, it is beneficial to improve the stability of the robot during the motion.
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公开(公告)号：EP4360819A1
公开(公告)日：2024-05-01
申请号：EP23154133.5
申请日：2023-01-31
发明人： XU, Zhe
IPC分类号： B25J9/16 , B62D57/024 , B62D57/032 , G05D1/08
CPC分类号： B62D57/032 , B62D57/024 , G05D1/0891
摘要： An anti-disturbance method for a robot includes: acquiring (S201) current speed information of the robot in a moving coordinate system; determining (S202) a disturbance state of the robot based on the current speed information and a desired speed of the robot, in which the disturbance state includes a disturbed state and a normal state; and adjusting (S203) a gait frequency of the robot, in response to determining that the disturbance state is the disturbed state.
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公开(公告)号：EP4410643A1
公开(公告)日：2024-08-07
申请号：EP23176073.7
申请日：2023-05-30
发明人： WANG, Jiajun
IPC分类号： B62D57/032
CPC分类号： B62D57/032
摘要： A method for controlling a robot includes: obtaining (S101) reference data and actual data of the robot at a current control moment, the reference data including reference physical values corresponding to target parts when the robot performs a target motion, and the actual data including actual physical values corresponding to target parts when the robot performs the target motion; determining (S 102) an actual attitude of the robot according to the actual data, the actual attitude including one of a support phase or a flight phase; then determining (S 103) a target control parameter of the robot based on the reference data and the actual data according to the actual attitude; and controlling (S 104) the robot according to the target control parameter.
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9.发明公开
公开(公告)号：EP4375026A1
公开(公告)日：2024-05-29
申请号：EP23210839.9
申请日：2023-11-20
发明人： ZHOU, Mingliang
IPC分类号： B25J9/16 , B62D57/02 , B62D57/032
CPC分类号： B25J9/1664 , B62D57/032 , G05B2219/4039520130101
摘要： The present disclosure provides a motion control method and apparatus, and a method and apparatus for generating a trajectory of a motion. The motion control method is applied to a robot, and includes: generating, according to a type of a desired motion, at least one motion phase of a motion process and a time for each motion phase; determining, according to the at least one motion phase and the time of each motion phase, a desired pose of the robot at at least one node during the motion process; inputting the desired pose as a reference value into a cost function model to obtain a trajectory of the desired motion, where the trajectory includes a pose and a control parameter of the robot at each sampling point during the motion process; and controlling the robot to move according to the trajectory of the desired motion.
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公开(公告)号：EP4040256B1
公开(公告)日：2024-05-08
申请号：EP21217904.8
申请日：2021-12-28
IPC分类号： G05D1/02 , B62D57/032
CPC分类号： G05D1/0274 , G05D1/0238 , B62D57/032
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