Login| Sign Up| Help| Contact|

Patent Searching and Data


Title:
METHOD AND APPARATUS FOR CONTROLLING MOTION STATE, AND DEVICE AND READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/152083
Kind Code:
A1
Abstract:
A method and apparatus for controlling a motion state, and a device and a readable storage medium, which relate to the field of robot control. The method comprises: step 301, acquiring basic data and motion state data, wherein the basic data is used for representing a structural feature of a wheeled robot (100), and the motion state data is used for representing a motion feature of the wheeled robot (100); step 302, determining a state matrix of the wheeled robot (100) on the basis of the basic data and the motion state data, wherein the state matrix is related to an interference parameter of the wheeled robot (100), and the interference parameter corresponds to a balance error of the wheeled robot (100); step 303, determining, on the basis of the state matrix, a torque (u) for controlling the wheeled robot (100); and step 304, controlling, by using the torque (u), the wheeled robot (100) to be in a standing-still state.

Inventors:
WANG SHUAI (CN)
ZHANG JINGFAN (CN)
LAI JIE (CN)
ZHANG DONGSHENG (CN)
CHEN KE (CN)
ZHENG YU (CN)
ZHANG ZHENGYOU (CN)
Application Number:
PCT/CN2022/071024
Publication Date:
July 21, 2022
Filing Date:
January 10, 2022
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
G05D1/02; B62D57/028
Domestic Patent References:
WO2014141356A12014-09-18
Foreign References:
CN113753146A2021-12-07
CN113753150A2021-12-07
CN113485398A2021-10-08
CN107024938A2017-08-08
CN104155976A2014-11-19
US20080230285A12008-09-25
US20200206905A12020-07-02
CN108121334A2018-06-05
CN111216826A2020-06-02
CN104316055A2015-01-28
CN110525535A2019-12-03
US20190258275A12019-08-22
JP2007290054A2007-11-08
CN202110049662A2021-01-14
Other References:
See also references of EP 4246271A4
Attorney, Agent or Firm:
BEIJING SAN GAO YONG XIN INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
Download PDF:
View/Download PDF      PDF Help



 
Previous Patent: RESOURCE SELECTION METHOD AND DEVICE, AND RESOURCE RECOMMENDATION METHOD AND DEVICE

Next Patent: CELL HANDOVER METHOD AND APPARATUS, AND STORAGE MEDIUM