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.


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    Title :

    ROBOT CONTROL METHOD AND APPARATUS, AND ROBOT, COMPUTER-READABLE STORAGE MEDIUM AND COMPUTER PROGRAM PRODUCT


    Additional title:

    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


    Contributors:

    Publication date :

    2024-05-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge





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