-
1.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.
-
公开(公告)号：EP4321417A1
公开(公告)日：2024-02-14
申请号：EP22216757.9
申请日：2022-12-27
发明人： ZHOU, Mingliang
IPC分类号： B62D57/02 , B62D57/032
摘要： A method for controlling motion of a two-legged robot includes: acquiring gait parameters of the two-legged robot; inputting the gait parameters to a preset gait planning model; determining gait trajectory parameters of the two-legged robot based on the gait parameters through the preset gait planning model, in which the gait trajectory parameters include a center-of-mass state corresponding to a double support phase and a center-of-mass state corresponding to a single support phase, and the center-of-mass state includes a center-of-mass position and a center-of-mass movement speed; and controlling the two-legged robot to move according to the gait trajectory parameters.
-
搜索结果
2 条记录 (耗时 0.011 秒)
