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

申请人： Beijing Xiaomi Robot Technology Co., Ltd.

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.