OPENTECHNICAL PUBLICATION
OT-2026-000000928

Planning and control method for legged robot, apparatus, robot, and storage medium

Published: 2026-09-15T19:03:36.213523Z
Permanent URL: https://opentechnical.org/p/OT-2026-000000928
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000000928
Published 2026-09-15T19:03:36.213523Z
https://opentechnical.org/p/OT-2026-000000928