A control method and apparatus for a wheel-legged robot, and a wheel-legged robot and a device, which relate to the field of robot control. The method comprises: acquiring the current motion state data of a wheel-legged robot, wherein the current motion state data is used for representing a motion feature of the wheel-legged robot (320); inputting the current motion state data into a nonlinear controller, so as to obtain a target joint angular acceleration reference value of a target robot joint of the wheel-legged robot (340); and inputting the target joint angular acceleration reference value into a whole body dynamics controller, and outputting a joint torque for controlling the wheel-legged robot to execute a control task (360). By using the control method which combines nonlinear control with whole body dynamics control, not only is the accuracy of balance control over a wheel-legged robot improved, but flexible control over the wheel-legged robot is also improved.


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    Title :

    CONTROL METHOD AND APPARATUS FOR WHEEL-LEGGED ROBOT, AND WHEEL-LEGGED ROBOT AND DEVICE


    Additional title:

    STEUERUNGSVERFAHREN UND -VORRICHTUNG FÜR EINEN RADBEINROBOTER SOWIE RADBEINROBOTER UND VORRICHTUNG
    PROCÉDÉ ET APPAREIL DE COMMANDE POUR ROBOT À ROUES-PATTES, ROBOT À ROUES-PATTES ET DISPOSITIF


    Contributors:
    WANG SHUAI (author) / WANG HAITAO (author) / JIANG XINYANG (author) / XU JIAFENG (author) / ZHANG DONGSHENG (author) / CHEN KE (author) / ZHANG JINGFAN (author) / LAI JIE (author) / ZHENG YU (author)

    Publication date :

    2023-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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