MOVING TRAJECTORY DETERMINING METHOD AND APPARATUS, COMPUTER DEVICE, AND STORAGE MEDIUM
A movement trajectory determining method and apparatus, a computer device, and a storage medium are disclosed, and belong to the field of computer technologies. The method includes: creating first relational data, second relational data, and third relational data, the first relational data indicatin...
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| creator | JIANG, Xinyang CHI, Wanchao ZHENG, Yu |
| description | A movement trajectory determining method and apparatus, a computer device, and a storage medium are disclosed, and belong to the field of computer technologies. The method includes: creating first relational data, second relational data, and third relational data, the first relational data indicating a relationship between a torso location of a legged robot and movement duration, the second relational data indicating a relationship between the movement duration and a force applied to a foot of the legged robot in contact with a ground, and the third relational data indicating a relationship between the force and a predicted rotational angle of the legged robot in a case that the legged robot moves to a target location after target movement duration elapses; creating fourth relational data based on the third relational data; and determining, based on the second relational data and the fourth relational data, a value of a constant C in a case that a target value J is a minimum value, and obtaining first relational data with the determined value of the constant C. This application provides a manner of determining a movement trajectory, to ensure feasibility and accuracy of a determined movement trajectory. |
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The method includes: creating first relational data, second relational data, and third relational data, the first relational data indicating a relationship between a torso location of a legged robot and movement duration, the second relational data indicating a relationship between the movement duration and a force applied to a foot of the legged robot in contact with a ground, and the third relational data indicating a relationship between the force and a predicted rotational angle of the legged robot in a case that the legged robot moves to a target location after target movement duration elapses; creating fourth relational data based on the third relational data; and determining, based on the second relational data and the fourth relational data, a value of a constant C in a case that a target value J is a minimum value, and obtaining first relational data with the determined value of the constant C. 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The method includes: creating first relational data, second relational data, and third relational data, the first relational data indicating a relationship between a torso location of a legged robot and movement duration, the second relational data indicating a relationship between the movement duration and a force applied to a foot of the legged robot in contact with a ground, and the third relational data indicating a relationship between the force and a predicted rotational angle of the legged robot in a case that the legged robot moves to a target location after target movement duration elapses; creating fourth relational data based on the third relational data; and determining, based on the second relational data and the fourth relational data, a value of a constant C in a case that a target value J is a minimum value, and obtaining first relational data with the determined value of the constant C. 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| title | MOVING TRAJECTORY DETERMINING METHOD AND APPARATUS, COMPUTER DEVICE, AND STORAGE MEDIUM |
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