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.


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    Titel :

    CONTROL METHOD AND APPARATUS FOR WHEEL-LEGGED ROBOT, AND WHEEL-LEGGED ROBOT AND DEVICE


    Weitere Titelangaben:

    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


    Beteiligte:
    WANG SHUAI (Autor:in) / WANG HAITAO (Autor:in) / JIANG XINYANG (Autor:in) / XU JIAFENG (Autor:in) / ZHANG DONGSHENG (Autor:in) / CHEN KE (Autor:in) / ZHANG JINGFAN (Autor:in) / LAI JIE (Autor:in) / ZHENG YU (Autor:in)

    Erscheinungsdatum :

    27.11.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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