A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

A setting support device according to the present invention is provided with: a first identification means that identifies an evaluation index value indicating the stability or control performance of motor control by a motor control device in each of a plurality of load device states in which a load device is in mutually different orientations or situations; a second identification means that identifies, for each control device state, a combined evaluation index value representative of the evaluation index values in the plurality of load device states, identified for that control device state by the first identification means; and a recommended-value output means that identifies and outputs a recommended value of at least one control parameter on the basis of the combined evaluation index value identified for each control device state by the second identification means.

A computing device creates first relation data indicating a relation between an interval duration and a center of mass position of a legged robot. The first relation data comprises a first constant, C. The computing device creates second relation data corresponding to at least one leg of for the legged robot and a force corresponding to the at last one leg with the ground. The second relation data comprises the first constant, C. The computing device creates third relation data according to the second relation data. The device determines a value of the first constant, C, when a target value J is a minimum value, and obtains the first relation data according to the determined value of the first constant, C.

A setting support device according to the present invention is provided with: a first identification means that identifies an evaluation index value indicating the stability or control performance of motor control by a motor control device in each of a plurality of load device states in which a load device is in mutually different orientations or situations; a second identification means that identifies a combined evaluation index value representative of the evaluation index values for the plurality of load device states, identified by the first identification means, on the basis of the evaluation index values for the plurality of load device states; and a display control means that displays, on a screen of a display, the combined evaluation index value identified by the second identification means.

A setting support device according to the present invention is provided with: a first identification means that identifies an evaluation index value indicating the stability or control performance of motor control by a motor control device in each of a plurality of load device states in which a load device is in mutually different orientations or situations; a second identification means that identifies, for each control device state, a combined evaluation index value representative of the evaluation index values in the plurality of load device states, identified for that control device state by the first identification means; and a recommended-value output means that identifies and outputs a recommended value of at least one control parameter on the basis of the combined evaluation index value identified for each control device state by the second identification means.

A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

A system for performing interactions within a physical environment, the system including: a robot having a robot base that undergoes movement relative to the environment and a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a communications system including a fieldbus network; a tracking system including a tracking base positioned in the environment and connected to the fieldbus network, and a tracking target mounted to a component of the robot, wherein the tracking base is configured to detect the tracking target to allow a position and/or orientation of the tracking target relative to the tracking base to be determined; and a control system that communicates with the tracking system via the fieldbus network to determine the relative position and/or orientation of the tracking target and controls the robot arm in accordance with the relative position and/or orientation of the tracking target.

A system for performing interactions within a physical environment including a robot having a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon for performing said interactions, a tracking system that measures a robot position indicative of a position of at least part of the robot relative to the environment, and a control system that determines the robot position; and, controls the robot arm in accordance with the robot position. The tracking system measures the position with a frequency that is at least 10 Hz and measures the position with an accuracy that is at least better than 10 mm, whilst the control system operates with a frequency that is at least 10 Hz.