CONTROL METHOD AND APPARATUS FOR WHEEL-LEGGED ROBOT, AND WHEEL-LEGGED ROBOT AND DEVICE

WIPO Patent Application WO/2022/252863

A1

A control method and apparatus for a wheel-legged robot, and a wheel-legged robot and a device, which relate to the field of robot control. The method comprises: acquiring the current motion state data of a wheel-legged robot, wherein the current motion state data is used for representing a motion feature of the wheel-legged robot (320); inputting the current motion state data into a nonlinear controller, so as to obtain a target joint angular acceleration reference value of a target robot joint of the wheel-legged robot (340); and inputting the target joint angular acceleration reference value into a whole body dynamics controller, and outputting a joint torque for controlling the wheel-legged robot to execute a control task (360). By using the control method which combines nonlinear control with whole body dynamics control, not only is the accuracy of balance control over a wheel-legged robot improved, but flexible control over the wheel-legged robot is also improved.

WANG SHUAI (CN)
WANG HAITAO (CN)
JIANG XINYANG (CN)
XU JIAFENG (CN)
ZHANG DONGSHENG (CN)
CHEN KE (CN)
ZHANG JINGFAN (CN)
LAI JIE (CN)
ZHENG YU (CN)

PCT/CN2022/088204

December 08, 2022

April 21, 2022

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TENCENT TECH SHENZHEN CO LTD (CN)

B62D57/028; G05B19/042

WO2020036111A1

2020-02-20

CN113753150A	2021-12-07
CN110764413A	2020-02-07
CN111208826A	2020-05-29
CN110315543A	2019-10-11
CN110405762A	2019-11-05
CN111290272A	2020-06-16
CN111547177A	2020-08-18
US20080230285A1	2008-09-25
US20200216127A1	2020-07-09
CN202110604984A	2021-05-31

BEIJING SAN GAO YONG XIN INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)

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