Title:
CONTROL METHOD FOR MULTI-MODAL MOBILE ROBOT, RELATED DEVICE, MEDIUM, AND PROGRAM PRODUCT
Document Type and Number:
WIPO Patent Application WO/2023/207304
Kind Code:
A1
Abstract:
Embodiments of the present application provide a control method and device for a multi-modal mobile robot, a robot, and a medium, which can be applied to scenarios such as artificial intelligence, robot technology, and electromechanical integration. The multi-modal mobile robot comprises a plurality of joints in a driving wheel module, a linear leg module, a driven wheel module, an ankle joint module, and a main body. State information of the multi-modal mobile robot is determined on the basis of sensor information or remote control information, and path planning information is determined according to the state information; a joint torque corresponding to each joint in the plurality of joints is determined on the basis of the state information and the path planning information, and, on the basis of the joint torque corresponding to each joint, the main body is controlled to move in the axial direction of the linear leg module; the linear leg module is controlled to turn over, or the driving wheel module, the driven wheel module, and the ankle joint module are controlled to at least move or rotate, so that the multi-modal mobile robot performs mode switching or processes an action task in any mode.
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Inventors:
WANG SHUAI (CN)
WANG HAITAO (CN)
ZHOU QINQIN (CN)
AN ZHAOHUI (CN)
ZHANG SHENGHAO (CN)
XIANG LINGZHU (CN)
CHI WANCHAO (CN)
ZHANG DONGSHENG (CN)
ZHENG YU (CN)
WANG HAITAO (CN)
ZHOU QINQIN (CN)
AN ZHAOHUI (CN)
ZHANG SHENGHAO (CN)
XIANG LINGZHU (CN)
CHI WANCHAO (CN)
ZHANG DONGSHENG (CN)
ZHENG YU (CN)
Application Number:
PCT/CN2023/078597
Publication Date:
November 02, 2023
Filing Date:
February 28, 2023
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
G05D1/02
Foreign References:
| CN111497965A | 2020-08-07 | |||
| CN111497963A | 2020-08-07 | |||
| CN113359740A | 2021-09-07 | |||
| CN113753150A | 2021-12-07 | |||
| JP2007161105A | 2007-06-28 | |||
| US20150120044A1 | 2015-04-30 |
Attorney, Agent or Firm:
SHENPAT INTELLECTUAL PROPERTY AGENCY (CN)
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