公开(公告)号：US20240025038A1

公开(公告)日：2024-01-25

申请号：US18373991

申请日：2023-09-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yisen HU ,  Hao Dong ,  Hongyu Ding ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/10 ,  B62D57/032

CPC classification number: B25J9/163 ,  B25J9/1664 ,  B25J9/106 ,  B25J9/161 ,  B25J9/1607 ,  B62D57/032

Abstract: A robot control method, a legged robot using the same, and a computer-readable storage medium are provided. The method includes: obtaining a motion parameter of a driving mechanism of a target part of the robot; and obtaining an end pose of the target part by processing the motion parameter of the driving mechanism according to a preset forward kinematics solving model, where the forward kinematics solving model is a neural network model trained by a preset training sample set constructed according to a preset inverse kinematics function relationship. In this manner, a complex forward kinematics solving process can be transformed into a relatively simple inverse kinematics solving process and neural network model processing process, which reduces the computational complexity, shortens the computational time, thereby meeting the demand for real-time control of the robot.