A robot control method includes: building a two-wheeled inverted pendulum model based on a wheel-legged robot; constructing initial state-space equations based on the two-wheeled inverted pendulum model; linearizing the initial state-space equations to obtain the state-space equations for a linear time-invariant system; obtaining a quadratic performance objective function according to the state-space equations for the linear time-invariant system; and solving the quadratic performance objective function by a linear quadratic regulator to obtain wheel torques of the wheel-legged robot, and controlling the wheel-legged robot according to the wheel torques.
ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM
2024-12-05
Patent
Electronic Resource
English
Robot control method, computer-readable storage medium and robot
European Patent Office | 2023
|Robot control method, robot and computer readable storage medium
European Patent Office | 2024
|ROBOT CONTROL METHOD, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT
European Patent Office | 2021
|Robot control method, robot and computer-readable storage medium
European Patent Office | 2025
|ROBOT CONTROL METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM
European Patent Office | 2023
|