The invention discloses a control method, device and equipment of a wheel-legged robot and a storage medium, and relates to the technical field of artificial intelligence. The method comprises the steps that for the wheel-legged robot with an inner side mechanical leg and an outer side mechanical leg, under the constraint of a supporting area corresponding to an initial posture, the wheel-legged robot stands on a supporting surface through the outer side mechanical leg and the inner side mechanical leg, and a contact point between a foot wheel on the outer side mechanical leg and the supporting surface can be controlled to move in a first direction; and the contact point between the foot wheel on the inner side mechanical leg and the supporting surface is controlled to move towards the second direction, so that the initial posture can be switched to the expected posture. According to the wheel-legged robot, the supporting area of the wheel-legged robot can be changed only by adjusting the outer side mechanical legs in the first direction and adjusting the inner side mechanical legs in the second direction, and therefore the adjusting difficulty of the supporting area is lowered.

    本申请公开了一种轮腿式机器人的控制方法、装置、设备及存储介质,涉及人工智能技术领域。所述方法包括:对于具有内侧机械腿和外侧机械腿的轮腿式机器人,在初始姿态对应的支撑区域的约束下,其通过外侧机械腿和内侧机械腿站立在支撑面上,并可控制外侧机械腿上的足轮与支撑面之间的接触点向第一方向移动,以及控制内侧机械腿上的足轮与支撑面之间的接触点向第二方向移动,即可从初始姿态切换为期望姿态。本申请实施例仅需在第一方向上调整外侧机械腿,以及在第二方向上调整内侧机械腿,即可改变轮腿式机器人的支撑区域,从而降低了支撑区域的调整难度。


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    Title :

    Control method, device and equipment of wheel-legged robot and storage medium


    Additional title:

    轮腿式机器人的控制方法、装置、设备及存储介质


    Contributors:
    ZHOU QINQIN (author) / LI JINGCHEN (author) / WANG HAITAO (author) / WANG SHUAI (author) / ZHENG YU (author) / LI XIONG (author)

    Publication date :

    2024-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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