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    MOTION CONTROL METHOD AND APPARATUS, METHOD AND APPARATUS FOR GENERATING TRAJECTORY OF MOTION
    2.
    发明公开
    MOTION CONTROL METHOD AND APPARATUS, METHOD AND APPARATUS FOR GENERATING TRAJECTORY OF MOTION 审中-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

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

    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.

    POSTURE CONTROL METHOD AND APPARATUS, ROBOT, STORAGE MEDIUM AND PROGRAM PRODUCT
    4.
    发明公开
    POSTURE CONTROL METHOD AND APPARATUS, ROBOT, STORAGE MEDIUM AND PROGRAM PRODUCT 审中-公开

    公开(公告)号：EP4299257A1

    公开(公告)日：2024-01-03

    申请号：EP22216954.2

    申请日：2022-12-28

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

    发明人： XIE, Yan

    IPC分类号： B25J9/16 ,  B62D57/032 ,  B62D57/02

    摘要： In a posture control method for a legged robot, target posture data of the legged robot is acquired, where the target posture data is posture data corresponding to a target posture to which the legged robot needs to be adjusted; plantar force information of the legged robot is determined according to the target posture data, with a friction cone formed between the legged robot and a contact surface in contact with a foot of the legged robot as a constraint condition; and the constraint condition of the friction cone is introduced, the slippage of the legged robot is reduced, and the legged robot is stably controlled to be adjusted from a current posture to the target posture according to the plantar force information.