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.
CONTROL METHOD AND APPARATUS FOR WHEEL-LEGGED ROBOT, AND WHEEL-LEGGED ROBOT AND DEVICE
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
2023-08-30
Patent
Electronic Resource
English
CONTROL METHOD AND APPARATUS FOR WHEEL-LEGGED ROBOT, AND WHEEL-LEGGED ROBOT AND DEVICE
European Patent Office | 2022
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