The embodiments of the disclosure provide a robot control method and apparatus, a robot, a computer-readable storage medium, and a computer program product. According to the robot control method provided in the embodiments of the disclosure, passivity based control for a nonlinear system is added to whole-body control for a wheel-legged robot. The nonlinear system is formed by both a base portion of the wheel-legged robot and a sphere on the base portion. Based on this, base control information for maintaining balance of the sphere is determined, and control for each joint of the robot is determined based on the base control information. In this way, the wheel-legged robot can maintain balance of the sphere during movement, thereby implementing the sphere balance task of the wheel-legged robot.
ROBOT CONTROL METHOD AND APPARATUS, AND ROBOT, COMPUTER-READABLE STORAGE MEDIUM AND COMPUTER PROGRAM PRODUCT
ROBOTERSTEUERUNGSVERFAHREN UND -VORRICHTUNG SOWIE ROBOTER, COMPUTERLESBARES SPEICHERMEDIUM UND COMPUTERPROGRAMMPRODUKT
PROCÉDÉ ET APPAREIL DE COMMANDE DE ROBOT, ET ROBOT, SUPPORT D'ENREGISTREMENT LISIBLE PAR ORDINATEUR ET PRODUIT-PROGRAMME INFORMATIQUE
2024-05-29
Patent
Electronic Resource
English
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