CN114237212A

CN114237212A - Foot type robot moving method and device, storage medium and electronic equipment

Info

Publication number: CN114237212A
Application number: CN202111203941.1A
Authority: CN
Inventors: 宋亚龙
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-10-15
Filing date: 2021-10-15
Publication date: 2022-03-25

Abstract

The embodiment of the application discloses a foot type robot moving method, a device, a storage medium and electronic equipment, and relates to the field of intelligent robots, wherein the method comprises the following steps: acquiring a theoretical moment value and an actual moment value of the legged robot in the moving process according to a target moving curve; and under the condition that the deviation between the actual moment value and the theoretical moment value is larger than a preset threshold value, updating the target moving curve, and executing the step of acquiring the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve until the deviation between the actual moment value and the theoretical moment value is smaller than or equal to the preset threshold value. By adopting the embodiment of the application, the foot type robot can be indicated to move to the preset destination corresponding to the target moving curve under the condition of not depending on the distance measuring sensor, and the cost and the calculation amount are effectively reduced.

Description

Foot type robot moving method and device, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of intelligent robots, and in particular, to a method and an apparatus for moving a foot robot, a storage medium, and an electronic device.

Background

With the appearance of more and more foot robots in the market, the requirements on the adaptability of the foot robots to various scenes are more and more complicated. In the technical scheme for realizing the moving function of the foot type robot, a plurality of distance measuring sensors are usually adopted to assist the foot type robot to complete the observation of the environment, a moving curve capable of avoiding obstacles is set according to an observation result, the foot type robot is instructed to move based on a track corresponding to the moving curve so as to reach a destination, and for example, the distance measuring sensors fused with sensors such as a multi-line laser radar, a millimeter wave radar and a binocular camera are adopted.

However, the solution of using the fusion ranging sensor causes a problem of high cost. The parameters of the sensor may also have data deviation according to the working environment and working time, such as the coordinate distance data between the preset sensor and the centroid of the legged robot, and the actual coordinate distance data due to vibration. In addition, the fusion ranging sensor is greatly influenced by the external environment, the accuracy of ranging data is difficult to guarantee, for example, the working of the laser radar is influenced by the overhigh intensity value of the ambient light, the working of the binocular camera is influenced by the overlow intensity value of the ambient light, and the working of the millimeter wave radar is also influenced by the overhigh ambient temperature.

Disclosure of Invention

The embodiment of the application provides a method and a device for moving a foot robot, a storage medium and electronic equipment, which can indicate the foot robot to move to a preset destination corresponding to a target moving curve without depending on a distance measuring sensor, so that the cost and the operation amount are effectively reduced. The technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a legged robot moving method, including:

acquiring a theoretical moment value and an actual moment value of the legged robot in the moving process according to a target moving curve;

and under the condition that the deviation between the actual moment value and the theoretical moment value is larger than a preset threshold value, updating the target moving curve, and executing the step of acquiring the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve until the deviation between the actual moment value and the theoretical moment value is smaller than or equal to the preset threshold value.

In a second aspect, an embodiment of the present application provides a legged robot moving device, where the device includes:

the acquisition module is used for acquiring a theoretical moment value and an actual moment value of the legged robot in the moving process according to the target moving curve;

and the updating module is used for updating the target moving curve under the condition that the deviation between the actual moment value and the theoretical moment value is greater than a preset threshold value, and executing the step of acquiring the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve until the deviation between the actual moment value and the theoretical moment value is less than or equal to the preset threshold value.

In a third aspect, embodiments of the present application provide a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the above-mentioned method steps.

In a fourth aspect, embodiments of the present application provide a legged robot, which may include: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the above-mentioned method steps.

The beneficial effects brought by the technical scheme provided by some embodiments of the application at least comprise:

according to the method and the device, the deviation between the theoretical moment value and the actual moment value of the foot type robot in the moving process according to the target moving curve is obtained, the deviation is further compared with the preset threshold value, the target moving curve is updated according to the comparison result, and real-time adjustment is carried out until the foot type robot reaches the preset destination, so that the distance measurement data does not need to be obtained by a distance measurement sensor, the cost of the foot type robot is greatly reduced, and the calculation amount of the foot type robot is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of a scenario of movement of a legged robot according to an embodiment of the present application;

fig. 2 is a schematic flowchart of a foot robot moving method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a method for adjusting the pose of a legged robot according to an embodiment of the present application;

fig. 4 is a schematic flowchart of a foot robot moving method according to an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a target movement curve provided in an embodiment of the present application;

fig. 6 is a schematic flowchart of a foot robot moving method according to an embodiment of the present application;

fig. 7 is a schematic flowchart of a foot robot moving method according to an embodiment of the present application;

fig. 8 is a movement diagram of a legged robot according to a target movement curve according to an embodiment of the present application;

fig. 9 is a schematic flowchart of a foot robot moving method according to an embodiment of the present application;

fig. 10A is a schematic diagram illustrating a compensated movement of an acquisition target point according to an embodiment of the present application;

FIG. 10B is a schematic diagram illustrating another compensated movement of an acquisition target point according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of another legged robot moving method according to an embodiment of the present application

Fig. 12 is a schematic structural diagram of a legged robot mobile device according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a foot robot according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present application, it is noted that, unless explicitly stated or limited otherwise, "including" and "having" and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art. Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

The present application will be described in detail with reference to specific examples.

As shown in fig. 1, a scene schematic diagram of a movement of a foot robot provided in an embodiment of the present application is shown, in the scene schematic diagram, as shown in the above diagram, the foot robot 101 is a robot puppy, has four walking feet and other complicated mechanical structures, has a plurality of parameters such as body height, body length, leg length, and coordinates of a center of mass, and is provided with components such as a steering engine, a force sensor, and a motor encoder, and can complete behaviors such as movement, jumping, single-leg lifting in a plurality of scenes. In the scene diagram, as shown in the following figure, the legged robot 101 moves from the starting point 1022 corresponding to the target movement curve 102 to the preset destination 1021 based on the target movement curve 102, that is, on a multi-step with a length of l and a height of h, the legged robot 101 climbs the first step to the second step.

It will be appreciated that the legged robot and legged robot movement scenario shown in fig. 1 is merely illustrative, and that the present application also encompasses other types of legged robots, such as biped robots, tripodal robots, etc., as well as other scenarios requiring movement of a legged robot.

In the related art, the legged robot 101 moves to the preset destination 1021 based on the target movement curve 102 by a method of acquiring point cloud data of a scene by fusing a ranging sensor to acquire the target movement curve 102 avoiding an obstacle. However, the scheme of the fusion ranging sensor causes the problem of high cost, and the parameters of the sensor also have data deviation according to the working environment and the working time. Therefore, the present application provides a method for moving a legged robot, so that the legged robot does not depend on a fusion ranging sensor to move to a preset destination 1021.

In one embodiment, as shown in fig. 2, a flowchart of a legged robot moving method provided by the embodiments of the present application is implemented by a computer program and can run on a legged robot moving device based on von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application.

Specifically, the foot robot moving method includes:

s201, obtaining a theoretical moment value and an actual moment value of the legged robot in the process of moving according to a target moving curve.

The theoretical moment value can be understood as a theoretical moment value required by the processor of the legged robot when the legged robot moves based on the target movement curve. In one embodiment, the calculation method may be a kinematic model constructed based on the structural information and the motion information of the legged robot, and the theoretical moment value required by the target movement curve is calculated through the kinematic model.

The actual moment value can be understood as an actual moment value required when the foot robot drives the foot robot to move when moving according to the target movement curve. In one embodiment, the method for acquiring the actual torque value may be to acquire the actual torque value through a driving motor disposed on a moving foot or a body of the foot type robot, where the driving motor is used to drive the corresponding moving foot or body to move the foot type robot.

In one embodiment, before obtaining the theoretical moment value and the actual moment value in the process that the legged robot moves according to the target moving curve, the posture of the legged robot needs to be adjusted.

Specifically, the foot type robot comprises at least one walking foot, wherein each walking foot corresponds to one foot end; acquiring coordinate data of at least one foot end of the foot robot corresponding to the world coordinate system, and calculating an included angle between a contact plane formed by the at least one foot end and a reference plane corresponding to the world coordinate system; and adjusting the posture of the foot type robot until the numerical value of the included angle is zero.

Fig. 3 is a schematic diagram of a method for adjusting a posture of a legged robot according to an embodiment of the present application, in which an upper diagram is before adjustment of the legged robot, and a lower diagram is after adjustment of the legged robot.

For example, the coordinate data of each walking foot under the world coordinate system is obtained according to the foot-type odometer information obtained by the fusion navigation system of the foot-type robot, that is, the information obtained from the forward kinematics model and the gait planning module of the foot-type robot, for example, the foot-end coordinate data of the first walking foot is (x)₁， y₁，z₁) The foot end coordinate data of the second walking foot is (x)₂，y₂，z₂) And the foot end coordinate data of the third walking foot is (x)₃，y₃，z₃) The foot end coordinate data of the fourth walking foot is (x)₄，y₄，z₄) (ii) a Obtaining contact planes 301 corresponding to four foot ends based on a least square optimization algorithm; calculating an included angle alpha between reference surfaces of the contact plane 301 in a world coordinate system; the posture of the foot type robot is further adjusted by adjusting the walking feet of the foot type robot until the numerical value of the included angle is zero.

In this embodiment, the initial moment value of the foot robot before moving is reduced by adjusting the posture of the foot robot, which is beneficial to reasonably planning the target moving curve and improves the moving efficiency of the foot robot according to the target moving curve. For example, the actual moment threshold value of the foot robot is 30N · m, the actual moment value of the foot robot is 10N · m before the attitude adjustment, and the actual moment value of the foot robot is only 2N · m after the attitude adjustment.

And acquiring a theoretical moment value and an actual moment value of the legged robot in the process of moving according to the target curve based on the legged robot after the posture is adjusted.

S202, under the condition that the deviation between the actual moment value and the theoretical moment value is larger than a preset threshold value, updating the target moving curve, and executing the step of obtaining the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve until the deviation between the actual moment value and the theoretical moment value is smaller than or equal to the preset threshold value.

As shown in fig. 1, the theoretical moment value E corresponding to the target movement curve 102 is obtained by calculation₁And acquiring an actual moment value E of the legged robot 101 during moving according to the target moving curve 102₂(ii) a Obtaining the actual torque value E₂And the theoretical moment value E₁E, i.e. E ═ E₂－E₁(ii) a Comparing the deviation E with a preset threshold value E₀Comparing, when the deviation E is larger than the preset threshold value E₀In the description, the legged robot 101 touches an obstacle during movement, for example, the moving foot of the legged robot 101 touches a step.

In the embodiment of the application, the deviation is the actual moment value minus the theoretical moment value.

It can be understood that, according to fig. 1, the target moving curve is a moving curve determined based on the centroid of the legged robot, that is, the starting point of the target moving curve and the position point of the destination are both determined by the centroid of the legged robot. In other embodiments, the target movement curve may be a movement curve determined based on a foot end coordinate point of a certain moving foot of the foot robot, and the determination method of the movement curve is similar to the determination method of the target movement curve shown in fig. 1, so the present application also includes a method of obtaining an actual moment value and a theoretical moment value from the movement curve determined based on the foot end coordinate point of the certain moving foot of the foot robot and performing deviation determination.

In the following description, the target moving curve determined from the centroid of the legged robot is described as an example, but the target moving curve is determined from the foot end coordinate point of a certain moving foot of the legged robot.

And updating the target moving curve 102, and executing the step of acquiring a theoretical moment value and an actual moment value of the legged robot in the moving process according to the target moving curve. That is, the theoretical moment value E is obtained according to the updated target movement curve 102_1`And the actual torque value E₂And (5) allowing the strain to stand. Further comparing the actual torque value E₂Theoretical moment value E₁The deviation E between the V and the preset threshold E₀Until the deviation E is less than or equal to a preset threshold E₀The legged robot 101 moves to the preset target point 1021 according to the target movement curve 102, and it can be understood that the target movement curve 102 is updated, but the corresponding preset target point 1021 is not changed.

In one embodiment, as shown in fig. 4, a flowchart of a legged robot moving method provided by the embodiments of the present application is implemented by a computer program and can run on a legged robot moving device based on von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application.

Specifically, the foot robot moving method includes:

s201, acquiring a target moving curve according to the moving speed and at least two preset position points.

And acquiring at least two preset position points according to a plurality of preset scene models and a preset starting point and a preset destination corresponding to each scene model. For example, in a stair climbing scene, according to the stair design standard specified by the national standard, the height h of each step is preset to be 30cm, the length l is preset to be 40cm, the preset destination of the foot robot is the middle point of each step, and the preset starting point is the edge of each step.

In one embodiment, the method for obtaining the target movement curve comprises the following steps: acquiring a displacement distance corresponding to each control period according to the moving speed and the control period; and fitting a target moving curve according to the displacement distance and the at least two preset position points.

As shown in fig. 5, a schematic structural diagram of a target movement curve provided in the embodiment of the present application includes: the target movement curve 501, a first preset position point 5011, a second preset position point 5012, a third preset position point 5013, a fourth preset position point 5014, and a fifth preset position point 5015.

The control period T may be understood as a period for sending a control command to the foot robot, the control command includes a movement parameter indicating the action of the action foot of the foot robot, for example, the movement parameter includes a rotation angle, a rotation angular velocity, a translation velocity, and the like of the action foot, and the movement velocity v includes the rotation angular velocity and the translation velocity.

In one embodiment, the movement speed is derived from movement instructions sent by a control device bound to the legged robot, e.g. movement instructions sent by a remote control bound to the legged robot. In another embodiment, the movement speed is from a legged robot preset.

The displacement distance X is understood to be the distance that the moving foot moves in each control period T, and is the control period T × the moving speed v.

As shown in fig. 5, 5 preset position points are included. The fifth preset position point 5015 is the starting point of the target moving curve 501, namely the position point of the centroid of the legged robot under the world coordinate system, and is obtained through odometry information of the legged robot; the third preset location point 5013 is the highest point; the first preset position point 5011 is a target point of the target moving curve 501, that is, a preset destination, and corresponds to a middle point of a high-level step with a length of l and a height of h, and the preset step-by-step robot is close to the edge of the step at this time and further obtained through a fifth preset position point 5015; the second predetermined position point 5012 is a middle point between the third predetermined position point 5013 and the first predetermined position point 5011, and the fourth predetermined position point 5014 is a middle point between the third predetermined position point 5013 and the fifth predetermined position point 5015.

For example, a fifth preset position point 5015(x, y, z) as a start point is obtained from odometry information of the foot robot, and a first preset position point 5011(x + L/2, y, z + h) as a destination is obtained from a trunk length L of the foot robot and the foot robot is located at an edge of a step; obtaining a third preset position point (x ', y ', z ') as a highest point through prior experience and kinematic parameters of the legged robot, such as the length of the action foot, the rotation angle threshold of the action foot and the like; the second preset position point 5012 and the fourth preset position point 5014 are obtained based on the third preset position point 5013, the first preset position point 5011, and the fifth preset position point 5015.

And carrying out Bezier curve fitting according to at least two preset position points to obtain an initial target moving curve. Further, according to the displacement distance X, the initial target movement curve is interpolated to obtain a final target movement curve 501. Thus, the target movement curve 501 includes n displacement distances X, i.e. corresponding to n control periods T.

It is understood that the present application also includes other methods for obtaining the target movement curve according to at least two preset position points, for example, two preset position points are provided, which are respectively a starting point for obtaining the legged robot according to the odometer information and a position point corresponding to the preset destination.

S202, acquiring a theoretical moment value and an actual moment value of the legged robot in the process of moving according to the target moving curve.

The operation principle and implementation of step S202 refer to step S101, which is not described herein again.

And S203, under the condition that the deviation between the actual moment value and the theoretical moment value is larger than a preset threshold value, updating the target moving curve, and executing the step of acquiring the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve until the deviation between the actual moment value and the theoretical moment value is smaller than or equal to the preset threshold value.

The operation principle and steps of step S203 refer to step S102 described above, and are not described herein again.

According to the method, the target moving curve is obtained through the moving speed and at least two preset position points, wherein the at least two preset position points are obtained by modeling the environment in a large amount without adopting a fusion ranging sensor, the cost is reduced, the calculating speed is high, and the response speed of the foot type robot is improved.

In one embodiment, as shown in fig. 6, a flowchart of a legged robot moving method provided by the embodiments of the present application is implemented by a computer program and can run on a legged robot moving device based on von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application.

Specifically, the foot robot moving method includes:

s301, acquiring a theoretical moment value and an actual moment value corresponding to each control cycle of the foot type robot.

In the embodiment of the application, the process of the foot type robot moving according to the target moving curve corresponds to at least one control period. The control cycle may be understood as a cycle in which a control command including a movement parameter indicating a sufficient action of the legged robot is transmitted to the legged robot.

As shown in fig. 5, the target movement curve 501 corresponds to n control periods T, for example, the duration of each control period T is 0.5 seconds, and the movement time of the target movement curve 501 is 30 seconds, that is, the target movement curve 501 corresponds to 60 control periods T.

The target movement curve 501 corresponds to n control periods, where the n control periods include: first control period T₁A second control period T₂A third control period T₃A fourth control period T₄And the like.

Obtaining a theoretical moment value and an actual moment value corresponding to each control period of the foot robot, namely obtaining a first control period T₁Corresponding theoretical moment value E₁ ¹And the actual torque value E₂ ¹Obtaining a second control period T₂Corresponding theoretical moment value E₁ ²And the actual torque value E₂ ²Obtaining a third control period T₃Corresponding theoretical moment value E₁ ³And the actual torque value E₂ ³Obtaining a fourth control period T₄Corresponding theoretical moment value E₁ ⁴And the actual torque value E₂ ⁴。

And S302, under the condition that the deviation between the actual moment value and the theoretical moment value corresponding to the target control period is larger than a preset threshold, updating the target moving curve, and executing the step of acquiring the theoretical moment value and the actual moment value corresponding to each control period of the foot type robot until the deviation between the actual moment value and the theoretical moment value is smaller than or equal to the preset threshold.

The at least one control period includes at least one target control period.

In one embodiment, every time a control period T passes, the deviation between the actual torque value and the theoretical torque value is obtained and compared with a preset threshold. And when the deviation corresponding to a certain control period is detected to be larger than a preset threshold value, determining the control period as a target control period. Therefore, the target moving curve is updated, and the step of obtaining the theoretical moment value and the actual moment value corresponding to each control cycle of the legged robot is executed until the deviation between the actual moment value and the theoretical moment value is less than or equal to the preset threshold value.

In this embodiment, the method for determining whether to update the target movement is beneficial to improving the response speed of the foot robot and improving the sensitivity of the foot robot, so as to prevent the foot robot from being damaged by the obstacle.

In another embodiment, the deviation between the actual torque value and the theoretical torque value is obtained every time a control period T passes and compared with a preset threshold. When the deviation corresponding to a certain control period is detected to be larger than a preset threshold value, the control period is determined to be a target control period, and when the target control period reaches M in number, the target moving curve is updated.

In this embodiment, the method for determining whether to update the target movement is beneficial to improving the accuracy of determining whether the foot robot touches the wall, and improving the reliability of the foot robot in operation.

In another embodiment, the deviation between the actual torque value and the theoretical torque value corresponding to each control period is sequentially obtained, and the target movement curve is updated when the fact that the deviation corresponding to N continuous target control periods is greater than a preset threshold value is detected.

For example, the target movement curve 501 corresponds to 60 control cycles, the control cycle in which the deviation between the actual torque value and the theoretical torque value is greater than the preset threshold value is the target control cycle, and when 5 continuous control cycles are detected, it is determined that the legged robot touches the wall, and the target movement curve is updated. And executing the step of acquiring a theoretical moment value and an actual moment value corresponding to each control period of the foot robot until the deviation between the actual moment value and the theoretical moment value is less than or equal to a preset threshold value.

In the embodiment of the application, the target moving curve is updated by detecting whether the deviation corresponding to the N continuous target control periods is larger than the preset threshold value, the judging method is more practical, the judging accuracy of whether the foot type robot collides with the wall is high, and the foot type robot is effectively protected from colliding with the obstacle.

In one embodiment, as shown in fig. 7, a flowchart of a legged robot moving method provided by the embodiments of the present application is implemented by a computer program and can run on a legged robot moving device based on von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application.

Specifically, the foot robot moving method includes:

s401, according to the target moving curve, obtaining a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target moving curve executed by the foot type robot.

The foot robot at least comprises one walking foot, and each walking foot comprises at least one driving motor.

As shown in fig. 8, a movement diagram of a legged robot moving according to a target movement curve according to an embodiment of the present application is provided, where the movement diagram includes: the sufficient robot, this sufficient robot corresponds four walking feet, and four walking feet include: a first walking foot 801, a second walking foot 802, a third walking foot, and a fourth walking foot. Two driving motors are corresponding to each walking foot, the first walking foot 801 corresponds to the driving motor 8011 and the driving motor 8012, the second walking foot 802 corresponds to the driving motor 8021 and the driving motor 8022, and the driving motors of the third walking foot and the fourth walking foot are not shown in the figure.

It is understood that the number of the drive motors corresponding to each walking foot and the foot robot shown in fig. 8 are only illustrative, and other types of foot robots are also included in the present application, and there is no limitation on the type and number of the drive motors corresponding to each walking foot.

And acquiring a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target moving curve of the foot type robot according to the target moving curve.

As shown in fig. 8, when the legged robot executes the target movement curve 102 based on the first walking foot 801, the target movement curve 102 shown in fig. 8 corresponds to a target movement curve based on the centroid of the legged robot as a starting point 1022 and a position point 1021 corresponding to the destination, and the first walking foot 801 executes the target movement curve 102, it can be understood that the first walking foot 801 moves according to a movement trajectory of a sub movement curve, wherein the sub movement curve has the same curve shape as the target movement curve 102 but takes a foot end coordinate point of the first walking foot 801 as a starting point and a position point corresponding to the destination.

The actual moment value and the theoretical moment value when the driving motor 8011 of the walking foot 801 executes the corresponding target movement curve 102 are acquired, and the actual moment value and the theoretical moment value when the driving motor 8012 of the walking foot 801 executes the corresponding target movement curve 102 are acquired.

S402, under the condition that the deviation between the actual moment value and the theoretical moment value corresponding to at least one target driving motor is larger than a preset threshold value, updating the target moving curve, and executing the step of obtaining the theoretical moment value and the actual moment value of each driving motor on the walking foot corresponding to the target moving curve executed by the foot type robot.

Wherein the at least one drive motor comprises at least one target drive motor.

For example, the actual moment value and the theoretical moment value when the driving motor 8011 of the walking foot 801 executes the corresponding target movement curve 102, and the actual moment value and the theoretical moment value when the driving motor 8012 of the walking foot 801 executes the corresponding target movement curve 102 are acquired; when the deviation corresponding to the driving motor 8011 is greater than a preset threshold, the driving motor 8011 is determined as a target driving motor, a target moving curve is updated, and a step of acquiring a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target moving curve executed by the foot type robot is executed.

It is to be understood that the present application is not limited to the number of target drive motors. For example, only when it is detected that the deviation corresponding to the driving motor 8011 is greater than the preset threshold and the deviation corresponding to the driving motor 8012 is greater than the preset threshold, the target moving curve is updated, and the step of obtaining the theoretical moment value and the actual moment value of each driving motor on the walking foot corresponding to the target moving curve executed by the legged robot is performed.

In the embodiment of the application, whether the foot type robot touches the wall or not is judged through the deviation corresponding to the driving motor, so that the target moving curve is updated, various wall touching conditions which may occur in a complex environment of the foot type robot are fully considered, and the possibility of misjudgment is effectively reduced.

In one embodiment, a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to a target moving curve of the foot type robot are obtained according to at least one corresponding control cycle of the foot type robot in the moving process according to the target moving curve; and updating the target movement curve when detecting that continuous N deviations in all the deviations corresponding to at least one target driving motor are larger than a preset threshold value.

For example, the target movement curve 102 shown in fig. 8 is the target movement curve 501 shown in fig. 5, that is, the target movement curve 102 corresponds to n control periods T.

When the walking foot 801 executes the target movement curve 102, the theoretical moment value and the actual moment value corresponding to the corresponding driving motor 8011 in each control period are acquired, for example, the driving motor 8011 in the first control period T₁Lower corresponding theoretical moment value E₁₁ ¹And the actual torque value E₂₁ ²The driving motor 8011 is driven in the second control period T₂Lower corresponding theoretical moment value E₁₁ ²And the actual torque value E₂₁ ²With the motor 8011 in the third control period T₃Lower corresponding theoretical moment value E₁₁ ³And the actual torque value E₂₁ ³。

When the walking foot 801 executes the target movement curve 102, the theoretical moment value and the actual moment value corresponding to the corresponding driving motor 8012 in each control period are acquired, for example, the driving motor 8012 in the first control period T₁Lower corresponding theoretical moment value E₁₂ ¹And the actual torque value E₂₂ ²The driving motor 8012 is driven in the second control period T₂Lower corresponding theoretical moment value E₁₂ ²And the actual torque value E₂₂ ²With the drive motor 8012 in the third control period T₃Lower corresponding theoretical moment value E₁₂ ³And the actual torque value E₂₂ ³。

And updating the target moving curve when detecting that continuous N deviations in all the deviations corresponding to at least one target driving motor are larger than a preset threshold value. That is, when N consecutive deviations of all deviations corresponding to a certain driving motor are greater than a preset threshold, the driving motor is determined to be the target driving motor.

For example, the driving motor 8011 corresponds to 60 control cycles and the deviation between the actual torque value and the theoretical torque value in each control cycle, and when 5 deviations greater than the threshold value continuously occur, the driving motor 8011 is determined as the target driving motor.

It is to be understood that the present application is not limited to the number of target drive motors.

In the embodiment of the application, whether the foot type robot touches the wall or not is judged through the corresponding deviation of the driving motor in each control period, so that the target moving curve is updated, various wall touching conditions which may occur in a complex environment of the foot type robot are fully considered, and the possibility of misjudgment is effectively reduced.

In one embodiment, as shown in fig. 9, a flowchart of a legged robot moving method provided in the embodiments of the present application is implemented by a computer program and can run on a legged robot moving device based on von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application.

Specifically, the foot robot moving method includes:

s501, obtaining a theoretical moment value and an actual moment value of the foot type robot in the process of moving according to a target moving curve.

The operation principle and implementation of step S501 refer to step S101, which is not described herein again.

S502, under the condition that the deviation between the actual moment value and the theoretical moment value is larger than a preset threshold value, compensating a target point of at least two moving points corresponding to the target moving curve.

In one embodiment, the present application compensates for the target point through step S502A, specifically, step S502A includes S5021A and S5022A.

And S5021A, instructing the legged robot to retreat to the starting point of the target movement curve.

The target point is the starting point of the target movement curve.

Fig. 10A is a schematic diagram of acquiring a movement of a compensated target point according to an embodiment of the present disclosure. When the action foot of the legged robot finds the wall collision while moving according to the target movement curve 102, the action foot is instructed to move back to the foot end position point of the action foot corresponding to the starting point 1022.

And S5022A, indicating the foot type robot to move a preset distance in a preset direction, and acquiring a starting point corresponding to the moved foot type robot.

As shown in fig. 10A, the legged robot at the starting point 1022 touches the wall, and instructs the legged robot to move backward by 5cm, that is, to move forward by 5cm in the x-axis direction under the world coordinate system, where the x-axis direction under the world coordinate system is a preset direction and 5cm is a preset distance. And acquiring a starting point 1001 corresponding to the legged robot after the movement according to the starting point 1022 before the movement and the odometer information of the legged robot.

It is understood that the present application also encompasses other arrangements of preset directions and preset distances, which are examples only.

In another embodiment, the present application compensates the target point through step S502B.

And S502B, indicating the foot type robot at the target point to move a preset distance in a preset direction, and acquiring the target point corresponding to the moved foot type robot.

The target point is a corresponding moving point when the deviation between the actual moment value and the theoretical moment value is greater than a preset threshold value in the moving process of the foot type robot according to the target moving curve.

Fig. 10B is a schematic diagram of another example of obtaining a compensated movement of a target point according to the embodiment of the present application. The target movement curve 102 corresponds to n control periods, and corresponds to one movement point at the end of each control period. When the foot type robot executes the theoretical moment value and the actual moment value of each driving motor on the walking foot 801 corresponding to the target moving curve 102, and when detecting that N continuous deviations in all deviations corresponding to at least one target driving motor are larger than a preset threshold value, the moving point 1023 corresponding to the action foot at the moment is obtained.

And indicating the foot type robot at the target point to move a preset distance in a preset direction, and acquiring the target point corresponding to the moved foot type robot. As shown in fig. 10B, the walking foot 801 is instructed to move from the target point 1023 to the position point 1002 based on the PID control principle, and the target point 1002 corresponding to the legged robot after the movement is acquired based on the starting point 1023 before the movement and the odometer information of the legged robot.

And S503, updating the target moving curve according to the compensated target point, and executing the step of acquiring a theoretical moment value and an actual moment value of the foot robot in the process of moving according to the target moving curve until the deviation between the actual moment value and the theoretical moment value is less than or equal to a preset threshold value.

As shown in fig. 10A, the target movement curve is updated according to the new starting point 1001 and other preset position points and movement speeds, for example, a position point 1021 corresponding to a preset destination, that is, an updated corresponding target movement curve 1000 is obtained.

As shown in fig. 10B, the target movement curve is updated according to the new target point 1002, and other preset position points and movement speeds, for example, a position point 1021 corresponding to a preset destination, that is, a corresponding target movement curve 1003 after updating is obtained.

And executing the step of acquiring a theoretical moment value and an actual moment value of the legged robot in the process of moving according to the target moving curve according to the updated target moving curve until the deviation between the actual moment value and the theoretical moment value is less than or equal to a preset threshold value. In other words, the legged robot is instructed to move to the preset destination according to the updated corresponding target movement curve.

According to the method and the device, the target moving curve is further updated by compensating the target point, namely the target moving curve is continuously updated by repeating trial and error for many times until the foot type robot moves to the preset destination, and the updating method is simple.

In one embodiment, as shown in fig. 11, a flowchart of a legged robot moving method provided by the embodiments of the present application is implemented by a computer program and can run on a legged robot moving device based on von neumann architecture. The computer program may be integrated into the application or may run as a separate tool-like application.

Specifically, the foot robot moving method includes:

s601, acquiring a target moving curve according to the moving speed and at least two preset position points.

Acquiring a displacement distance corresponding to each control period according to the moving speed and the control period; and fitting a target moving curve according to the displacement distance and the at least two preset position points.

The operation principle and implementation of step S601 refer to step S201, which is not described herein again.

And S602, acquiring a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target moving curve executed by the foot type robot according to the target moving curve.

And acquiring a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target moving curve of the foot type robot under each control period according to at least one corresponding control period of the foot type robot in the moving process according to the target moving curve.

The operation principle and implementation of step S602 refer to step S401, which is not described herein again.

S603, the deviation between the actual torque value and the theoretical torque value corresponding to at least one target driving motor is larger than a preset threshold value.

The operation principle and implementation of step S603 refer to step S402, which is not described herein again.

And S604, indicating the legged robot to return to the starting point of the target movement curve.

The operation principle and implementation of step S604 refer to step S5021A, which is not described herein again.

And S605, indicating the foot type robot to move a preset distance in a preset direction, and acquiring a starting point corresponding to the moved foot type robot.

The operation principle and implementation of step S605 refer to step S5022A, which is not described herein again.

And S606, updating the target moving curve according to the compensated target point, and executing the step of obtaining a theoretical moment value and an actual moment value of the legged robot in the process of moving according to the target moving curve until the deviation between the actual moment value and the theoretical moment value is less than or equal to a preset threshold value.

The operation principle and implementation of step S606 refer to step S503, which is not described herein again.

An embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, and the instructions are suitable for being loaded by a processor and being executed by the legged robot moving method according to the embodiment shown in fig. 1 to 11, and a specific execution process may refer to specific descriptions of the embodiment shown in fig. 1 to 11, which are not described herein again.

The present application further provides a computer program product, where at least one instruction is stored, and the at least one instruction is loaded by the processor and executes the method for moving the legged robot according to the embodiment shown in fig. 1 to 11, where a specific execution process may refer to specific descriptions of the embodiment shown in fig. 1 to 11, and is not described herein again.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Referring to fig. 12, a schematic structural diagram of a legged robot mobile device according to an exemplary embodiment of the present application is shown. The legged robotic mobile device may be implemented as all or part of a device in software, hardware, or a combination of both. The legged robotic mobile device includes an acquisition module 1201 and an update module 1202.

An obtaining module 1201, configured to obtain a theoretical moment value and an actual moment value of the legged robot in a moving process according to a target moving curve;

an updating module 1202, configured to update the target movement curve when a deviation between the actual torque value and the theoretical torque value is greater than a preset threshold, and execute the step of obtaining the theoretical torque value and the actual torque value of the legged robot in the movement process according to the target movement curve until the deviation between the actual torque value and the theoretical torque value is less than or equal to the preset threshold.

In one or more embodiments, the legged robotic movement device further comprises:

and the curve obtaining module is used for obtaining a target moving curve according to the moving speed and at least two preset position points.

In one or more embodiments, the obtain curves module comprises:

the displacement obtaining unit is used for obtaining a displacement distance corresponding to each control period according to the moving speed and the control period;

and the fitting curve unit is used for fitting a target moving curve according to the displacement distance and the at least two preset position points.

In one or more embodiments, the process of the legged robot moving according to the target moving curve corresponds to at least one control cycle;

an obtaining module 1201, comprising:

the period acquisition unit is used for acquiring a theoretical moment value and an actual moment value corresponding to each control period of the foot type robot;

an update module 1202, comprising:

and the period updating unit is used for updating the target moving curve and acquiring a theoretical moment value and an actual moment value corresponding to each control period of the foot robot under the condition that the deviation between an actual moment value and a theoretical moment value corresponding to a target control period is greater than a preset threshold value, wherein the at least one control period comprises at least one target control period.

In one or more embodiments, the period updating unit is further configured to sequentially obtain a deviation between an actual torque value and a theoretical torque value corresponding to each control period;

and updating the target moving curve when detecting that the deviation corresponding to the continuous N target control periods is larger than a preset threshold value.

In one or more embodiments, the legged robot includes at least one walking foot, each walking foot including at least one drive motor;

an obtaining module 1201, comprising:

the walking foot acquisition unit is used for acquiring a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target moving curve executed by the foot type robot according to the target moving curve;

an update module 1202, comprising:

and the walking foot updating unit is used for updating the target moving curve and executing the step of acquiring the theoretical moment value and the actual moment value of each driving motor on the walking foot of the foot type robot corresponding to the target moving curve when the deviation between the actual moment value and the theoretical moment value corresponding to at least one target driving motor is larger than a preset threshold value, wherein the at least one driving motor comprises the at least one target driving motor.

In one or more embodiments, the walking foot acquisition unit is to:

acquiring a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to a target moving curve of the foot type robot under each control period according to at least one corresponding control period of the foot type robot in the moving process according to the target moving curve;

the walking foot updating unit is used for:

and updating the target movement curve when detecting that continuous N deviations in all the deviations corresponding to at least one target driving motor are larger than a preset threshold value.

In one or more embodiments, the target movement curve corresponds to at least two movement points;

an update module 1202, comprising:

the compensation unit is used for compensating target points in at least two moving points corresponding to the target moving curve under the condition that the deviation between the actual moment value and the theoretical moment value is larger than a preset threshold value;

and the updating unit is used for updating the target movement curve according to the compensated target point.

In one or more embodiments, the target point is a starting point of the target movement curve;

a compensation unit for:

instructing the legged robot to retract to a starting point of the target movement curve;

indicating the foot type robot to move a preset distance in a preset direction, and acquiring a starting point corresponding to the moved foot type robot;

and the updating unit is used for updating the target moving curve according to the corresponding starting point of the moved legged robot.

In one or more embodiments, the target point is a moving point corresponding to a case that a deviation between the actual moment value and the theoretical moment value is greater than the preset threshold value in a process that the legged robot moves according to a target moving curve;

the compensation unit is used for indicating the foot type robot at the target point to move a preset distance in a preset direction and acquiring the target point corresponding to the moved foot type robot;

and the updating unit is used for updating the target moving curve according to the target point corresponding to the moved legged robot.

In one or more embodiments, the legged robot includes at least one walking foot, one foot end for each walking foot;

this sufficient formula robot mobile device still includes:

the coordinate acquisition module is used for acquiring coordinate data corresponding to at least one foot end of the foot robot in a world coordinate system and calculating an included angle between a contact plane formed by the at least one foot end and a reference plane corresponding to the world coordinate system;

and the posture adjusting module is used for adjusting the posture of the foot type robot until the numerical value of the included angle is zero.

Please refer to fig. 13, which provides a schematic structural diagram of a foot robot according to an embodiment of the present application. As shown in fig. 11, the legged robot 1300 may include: at least one processor 1301, at least one network interface 1304, a user interface 1303, memory 1305, at least one communication bus 1302.

Wherein a communication bus 1302 is used to enable connective communication between these components.

The user interface 1303 may include a Display screen (Display) and a Camera (Camera), and the optional user interface 1303 may also include a standard wired interface and a wireless interface.

The network interface 1304 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).

Processor 1301 may include one or more processing cores, among other things. The processor 1301 connects various parts throughout the server 1300 using various interfaces and lines, and performs various functions of the server 1300 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 1305 and calling data stored in the memory 1305. Optionally, the processor 1301 may be implemented in at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 1301 may integrate one or a combination of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a modem, and the like. Wherein, the CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for rendering and drawing the content required to be displayed by the display screen; the modem is used to handle wireless communications. It is to be understood that the modem may not be integrated into the processor 1301, but may be implemented by a single chip.

The Memory 1305 may include a Random Access Memory (RAM) or a Read-Only Memory (Read-Only Memory). Optionally, the memory 1305 includes a non-transitory computer-readable medium. The memory 1305 may be used to store an instruction, a program, code, a set of codes, or a set of instructions. The memory 1305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiment rules described above, and the like; the storage data area may store data and the like referred to in the above respective method embodiments. The memory 1305 may optionally be at least one memory device located remotely from the processor 1301. As shown in fig. 13, the memory 1305, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a legged robot mobile application program.

In the legged robot 1300 shown in fig. 13, the user interface 1303 is mainly used as an interface for providing input to a user to acquire data input by the user; and the processor 1301 may be configured to invoke the legged robotic mobile application stored in the memory 1305 and perform the following operations in particular:

In one or more embodiments, the processor 1301 executes the acquiring of the theoretical moment value and the actual moment value of the legged robot during the movement process according to the target movement curve, and further executes:

and acquiring a target moving curve according to the moving speed and at least two preset position points.

In one or more embodiments, the processor 1301 executes the obtaining of the target movement curve according to the movement speed and at least two preset position points, and executes:

acquiring a displacement distance corresponding to each control period according to the moving speed and the control period;

and fitting a target moving curve according to the displacement distance and the at least two preset position points.

the processor 1301 executes the following steps of obtaining a theoretical moment value and an actual moment value of the legged robot in the moving process according to the target moving curve:

acquiring a theoretical moment value and an actual moment value corresponding to each control period of the foot type robot;

the processor 1301 updates the target movement curve when the deviation between the actual moment value and the theoretical moment value is greater than a preset threshold, and performs the steps of obtaining the theoretical moment value and the actual moment value of the legged robot in the movement process according to the target movement curve, and performs:

and under the condition that the deviation between the actual moment value and the theoretical moment value corresponding to a target control period is greater than a preset threshold value, updating the target moving curve, and executing to acquire the theoretical moment value and the actual moment value corresponding to each control period of the foot robot, wherein the at least one control period comprises at least one target control period.

In one or more embodiments, the processor 1301 updates the target movement curve when the deviation between the actual torque value and the theoretical torque value corresponding to the target control period is greater than a preset threshold, and performs:

sequentially acquiring the deviation between the actual moment value and the theoretical moment value corresponding to each control period;

according to the target moving curve, acquiring a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target moving curve executed by the foot type robot;

the processor 1301 updates the target movement curve when the deviation between the actual moment value and the theoretical moment value is greater than a preset threshold, acquires the theoretical moment value and the actual moment value of the legged robot in the movement process according to the target movement curve, and executes:

and under the condition that the deviation between the actual moment value and the theoretical moment value corresponding to at least one target driving motor is larger than a preset threshold value, updating the target moving curve, and executing the step of acquiring the theoretical moment value and the actual moment value of each driving motor on the walking foot corresponding to the target moving curve executed by the foot type robot, wherein the at least one driving motor comprises the at least one target driving motor.

In one or more embodiments, the processor 1301 executes the following steps of obtaining a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target movement curve executed by the legged robot according to the target movement curve, and executing:

the processor 1301 executes the update of the target movement curve when the deviation between the actual torque value and the theoretical torque value corresponding to at least one target driving motor is greater than a preset threshold value, and executes:

the processor 1301 updates the target movement curve when the deviation between the actual torque value and the theoretical torque value is greater than a preset threshold value, and performs:

compensating a target point of at least two moving points corresponding to the target moving curve under the condition that the deviation between the actual moment value and the theoretical moment value is greater than a preset threshold value;

and updating the target moving curve according to the compensated target point.

the processor 1301 performs the compensation on the target point of the at least two moving points corresponding to the target moving curve, and performs:

the processor 1301 executes the update of the target movement curve according to the compensated starting point, and executes:

and updating the target moving curve according to the starting point corresponding to the moved legged robot.

indicating the foot type robot at the target point to move a preset distance in a preset direction, and acquiring the target point corresponding to the moved foot type robot;

the processor 1301 executes the update of the target movement curve according to the compensated target point, and executes:

and updating the target moving curve according to the target point corresponding to the moved legged robot.

the processor 1301 executes the following steps before acquiring the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve:

acquiring coordinate data of at least one foot end of the foot robot corresponding to the world coordinate system, and calculating an included angle between a contact plane formed by the at least one foot end and a reference plane corresponding to the world coordinate system;

and adjusting the posture of the foot type robot until the numerical value of the included angle is zero.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.

Claims

1. A legged robot movement method, characterized in that the method comprises:

2. The method of claim 1, wherein the obtaining of the theoretical moment value and the actual moment value of the legged robot during the movement according to the target movement curve further comprises:

3. The method of claim 2, wherein the obtaining a target movement curve based on the movement speed and at least two preset position points comprises:

4. The method according to claim 1, wherein the process of the legged robot moving according to the target movement curve corresponds to at least one control cycle;

the acquiring of the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve includes:

under the condition that the deviation between the actual moment value and the theoretical moment value is greater than a preset threshold value, updating the target moving curve, and executing the step of acquiring the theoretical moment value and the actual moment value of the foot robot in the moving process according to the target moving curve, wherein the step comprises the following steps:

5. The method according to claim 4, wherein the updating the target movement curve in the case that the deviation between the actual torque value and the theoretical torque value corresponding to the target control period is greater than a preset threshold value comprises:

6. The method of claim 1, wherein said legged robot includes at least one walking foot, each said walking foot including at least one drive motor;

under the condition that the deviation between the actual moment value and the theoretical moment value is greater than a preset threshold value, updating the target moving curve, and executing to acquire the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve, wherein the method comprises the following steps:

7. The method according to claim 6, wherein the obtaining, according to the target movement curve, a theoretical moment value and an actual moment value of each driving motor on a walking foot corresponding to the target movement curve executed by the legged robot comprises:

under the condition that the deviation between the actual torque value and the theoretical torque value corresponding to at least one target driving motor is larger than a preset threshold value, updating the target moving curve, and the method comprises the following steps:

8. The method of claim 1, wherein the target movement curve corresponds to at least two movement points;

under the condition that the deviation between the actual moment value and the theoretical moment value is larger than a preset threshold value, updating the target moving curve, including:

and updating the target moving curve according to the compensated target point.

9. The method of claim 8, wherein the target point is a starting point of the target movement curve;

the compensating the target point of the at least two moving points corresponding to the target moving curve includes:

the updating the target moving curve according to the compensated starting point includes:

10. The method according to claim 8, wherein the target point is a moving point corresponding to a situation that the deviation between the actual moment value and the theoretical moment value is greater than the preset threshold value in the process that the legged robot moves according to a target moving curve;

the updating the target movement curve according to the compensated target point includes:

11. The method of claim 1, wherein the legged robot includes at least one walking foot, one foot end for each walking foot;

before obtaining the theoretical moment value and the actual moment value of the legged robot in the moving process according to the target moving curve, the method further comprises the following steps:

12. A legged robotic mobile device, the device comprising:

13. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to carry out the method steps according to any one of claims 1 to 7.

14. A legged robot, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1 to 11.