ROBOT CONTROL METHOD BASED ON TRAJECTORY OF CENTER OF MASS, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM

A method for controlling a robot based on a trajectory of a center of mass (COM) of the robot includes: calculate a desired periodic trajectory of the robot in a single gait cycle based on a dynamic equation constructed according to a simplified model of the robot; correct the desired periodic traje...

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Bibliographische Detailangaben
Hauptverfasser:	Chen, Chunyu, LUO, QIUYUE, Luo, Xuan, Ge, Ligang
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	A method for controlling a robot based on a trajectory of a center of mass (COM) of the robot includes: calculate a desired periodic trajectory of the robot in a single gait cycle based on a dynamic equation constructed according to a simplified model of the robot; correct the desired periodic trajectory according to a fed-back state of the COM of the robot; generate a desired trajectory of the COM of the robot using the corrected desired periodic trajectory; and control motion of the robot according to the desired trajectory of the COM of the robot.