This application relates to the field of robots, and in particular, to a movement control method for an underactuated robot and an underactuated robot. The underactuated robot includes a vehicle wheel portion and a base portion connected to the vehicle wheel portion. A loaded object is placed on the base portion. The method includes: determining status information of a loaded object on a base portion (102); and controlling, according to the determined status information, at least one of the base portion and a vehicle wheel portion to move, so as to prevent the loaded object from falling from the base portion (104). In the embodiments, the base portion and/or the vehicle wheel portion can be controlled to move according to the status information of the loaded object on the base portion, to prevent the loaded object from falling from the base portion, thereby improving the stability of the underactuated robot.
MOTION CONTROL METHOD FOR UNDER-ACTUATED SYSTEM ROBOT, AND UNDER-ACTUATED SYSTEM ROBOT
BEWEGUNGSSTEUERUNGSVERFAHREN FÜR EINEN UNTERBETÄTIGTEN SYSTEMROBOTER UND UNTERBETÄTIGTER SYSTEMROBOTER
PROCÉDÉ DE COMMANDE DE MOUVEMENT POUR ROBOT DE SYSTÈME SOUS-ACTIONNÉ, ET ROBOT DE SYSTÈME SOUS-ACTIONNÉ
2024-07-03
Patent
Elektronische Ressource
Englisch
MOTION CONTROL METHOD FOR UNDER-ACTUATED SYSTEM ROBOT, AND UNDER-ACTUATED SYSTEM ROBOT
Europäisches Patentamt | 2023
|Gait control method of under-actuated biped walking robot
Europäisches Patentamt | 2021
|Dynamics of Under-Actuated Leech-Inspired Robot
IEEE | 2022
|