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.


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    Title :

    MOTION CONTROL METHOD FOR UNDER-ACTUATED SYSTEM ROBOT, AND UNDER-ACTUATED SYSTEM ROBOT


    Additional title:

    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


    Contributors:
    WANG SHUAI (author) / WANG HAITAO (author) / DAI YUAN (author) / ZHANG DONGSHENG (author) / CHEN KE (author) / ZHANG RUIRUI (author) / WANG RUI (author) / ZHANG JINGFAN (author) / LAI JIE (author) / ZHENG YU (author)

    Publication date :

    2024-07-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

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



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