The invention discloses a motion control method of a mobile robot and the mobile robot, and relates to the field of robots. The mobile robot comprises a first wheel part with a telescopic leg part, a second wheel part with a telescopic leg part and a base part connected with the first wheel part and the second wheel part, and the method comprises the steps that the first wheel part and the second wheel part are controlled to be in a standing balance state; controlling the mobile robot to perform biped-like motion based on the standing balance state; wherein the base part is parallel to the horizontal reference surface in a standing balance state, and in the process of biped-like movement, the first wheel part and the second wheel part alternately touch the ground, and the base part obliquely swings.
本申请公开了一种移动机器人的运动控制方法和移动机器人,涉及机器人领域。所述移动机器人包括具有伸缩腿部的第一车轮部和具有伸缩腿部的第二车轮部、以及与第一车轮部和第二车轮部连接的基座部,所述方法包括:控制第一车轮部和第二车轮部处于站立平衡状态;控制移动机器人基于站立平衡状态进行类双足运动;其中,基座部在站立平衡状态下与水平基准面平行,在类双足运动的过程中,第一车轮部和第二车轮部交替着地,基座部倾斜摇摆。
Motion control method of mobile robot and mobile robot
移动机器人的运动控制方法和移动机器人
2023-11-03
Patent
Elektronische Ressource
Chinesisch
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