{
  "abstract": "Provided are a planning and control method for a legged robot, an apparatus, a robot, and a storage medium. The method includes: determining, based on the movement state and the swing parameter of each leg at the next moment, a foot-end reference state of each leg, and planning, based on a foot-end dynamic model and a discrete collision model, an impact-aware swing leg trajectory for a leg that starts to swing at the next moment; and performing, based on the movement state, the reference state sequence, and the foot-end reference state, whole-body control on the legged robot, and performing, based on a whole-body dynamic model and the discrete collision model, impact-aware whole-body control for a leg that is a supporting leg in planning but does not touch the ground.",
  "assignees": [
    "TSINGHUA UNIV"
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  "authors": [
    "CAI WENHAN",
    "HAN XINYU",
    "PANG YANBO",
    "ZHAO MINGGUO"
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  "title": "Planning and control method for legged robot, apparatus, robot, and storage medium",
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