MOTION CONTROL METHOD FOR UNDER-ACTUATED SYSTEM ROBOT, AND UNDER-ACTUATED SYSTEM ROBOT

WIPO Patent Application WO/2023/130824

A1

A motion control method for an under-actuated system robot, and an under-actuated system robot, which relate to the field of robots. The under-actuated system robot comprises a wheel portion, and a base portion, which is connected to the wheel portion, wherein a load object is placed on the base portion. The method comprises: determining state information of a load object on a base portion (102); and controlling, according to the state information, at least one of the base portion and a wheel portion to move, so as to keep the load object on the base portion without falling off (104). In the present embodiment, according to state information of a load object on a base portion, the base portion and/or a wheel portion can be controlled to move, such that the load object is kept on the base portion without falling off, thereby improving the stability of an under-actuated system robot.

JPS61169117	INDUSTRIAL ROBOT
JPH10315168	DEVICE AND METHOD FOR PROVIDING LINEAR MOTION
WO/2019/041751	FOOD PROCESSING MACHINE

WANG SHUAI (CN)
WANG HAITAO (CN)
DAI YUAN (CN)
ZHANG DONGSHENG (CN)
CHEN KE (CN)
ZHANG RUIRUI (CN)
WANG RUI (CN)
ZHANG JINGFAN (CN)
LAI JIE (CN)
ZHENG YU (CN)

PCT/CN2022/129831

July 13, 2023

November 04, 2022

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TENCENT TECH SHENZHEN CO LTD (CN)

B25J9/16; B25J5/00; B25J13/00; B25J19/00; B62D57/028

CN112975978A	2021-06-18
CN113753150A	2021-12-07
US20040006408A1	2004-01-08
CN106428284A	2017-02-22
CN207903351U	2018-09-25
CN109099898A	2018-12-28

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

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