The invention provides a motion state control method and device, electronic equipment and a storage medium, and is applied to a wheel-legged robot, and the method comprises the steps: obtaining all kinetic parameters of the wheel-legged robot, building a kinetic model based on the total torque of wheels, the tracking linear speed, the pitch angle, the pitch angle speed, the characteristic parameters, the gravitational acceleration and the intermediate parameters, and obtaining the motion state of the wheel-legged robot; based on the linear velocity parameter, the pitch angle parameter, the weight coefficient, the co-state variable, the cost function, the kinetic model, a preset proportional gain coefficient and the yaw angle parameter, obtaining a wheel target angular acceleration sum value and a wheel target angular acceleration difference value, and obtaining a left wheel target angular velocity and a right wheel target angular velocity; obtaining a target joint angle based on a preset leg height and a left and right leg target height difference value; and based on the target joint angle, the left wheel target angular velocity and the right wheel target angular velocity, the wheel-legged robot is controlled to complete the preset motion task, the accuracy of gravity center balance control is improved, and compliant control of the wheel-legged robot is considered.
本申请提供了运动状态的控制方法、装置、电子设备及存储介质,应用于轮腿式机器人,方法包括:获取轮腿式机器人的各动力学参数,基于车轮总扭矩、跟踪线速度、俯仰角、俯仰角速度、特征参数、重力加速度及中间参数构建动力学模型,基于线速度参数、俯仰角参数、权重系数、协态变量、代价函数、动力学模型、预设比例增益系数及偏航角参数,获得车轮目标角加速度和值及车轮目标角加速度差值,并获得左轮目标角速度和右轮目标角速度;基于预设腿部高度及左右腿目标高度差值,获得目标关节角度;基于目标关节角度、左轮目标角速度、右轮目标角速度,控制轮腿式机器人完成预设运动任务,提高了重心平衡控制的准确率,兼顾了轮腿式机器人的柔顺控制。
Motion state control method and device, electronic equipment and storage medium
运动状态的控制方法、装置、电子设备及存储介质
2023-06-02
Patent
Elektronische Ressource
Chinesisch
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