Title:
ROBOT CONTROL METHOD AND APPARATUS, AND ROBOT AND COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/165192
Kind Code:
A1
Abstract:
The present application relates to a robot control method and apparatus, and a robot and a computer-readable medium. The robot comprises a wheel leg portion, which comprises a driving wheel and a plurality of joints. The method comprises: on the basis of movement information of a robot during a movement process, adaptively determining control information for controlling the rotation of a driving wheel (S201); on the basis of the control information, determining first control information for controlling a plurality of joints, wherein the first control information is used for maintaining the balance of the robot (S202); on the basis of a target trajectory of the robot, determining second control information for controlling the plurality of joints, wherein the second control information is used for enabling the robot to move along the target trajectory (S203); and on the basis of a movement constraint condition of the robot, the first control information and the second control information, determining a control torque required for controlling each of the plurality of joints (S204).
Inventors:
WANG SHUAI (CN)
ZHANG JINGFAN (CN)
ZHANG JINGFAN (CN)
Application Number:
PCT/CN2022/135432
Publication Date:
September 07, 2023
Filing Date:
November 30, 2022
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
B62D57/032
Foreign References:
| CN113753150A | 2021-12-07 | |||
| CN113021299A | 2021-06-25 | |||
| CN112775976A | 2021-05-11 | |||
| CN113002654A | 2021-06-22 | |||
| JP2014161991A | 2014-09-08 |
Attorney, Agent or Firm:
ADVANCE CHINA IP LAW OFFICE (CN)
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