The invention discloses a balance control method, device and equipment of a wheel-legged robot and a storage medium, and relates to the technical field of robots. The wheel-legged robot is simplified into an n-order inverted pendulum model, the n-order inverted pendulum model comprises wheels, n connecting rods and n rotating joints, the first connecting rod is an equivalent connecting rod corresponding to at least two leg mechanisms of the wheel-legged robot, and the wheels are equivalent moving wheels corresponding to moving wheels connected with the at least two leg mechanisms respectively; the method comprises the following steps: acquiring an actual state quantity of the wheel-legged robot at a first moment; processing the actual state quantity at the first moment to obtain an equivalent state quantity at the first moment; establishing a sliding mode surface according to the equivalent state quantity at the first moment; according to the sliding mode surface, the equivalent state quantity at the first moment and the kinetic equation, determining a force and moment instruction about the wheel-legged robot; and at the second moment, the n rotating joints are controlled according to the force and torque instructions. The posture of the n connecting rods can be adjusted, and the robustness of balance control can be improved.
一种轮腿式机器人的平衡控制方法、装置、设备及存储介质,涉及机器人技术领域。将轮腿式机器人简化为n阶倒立摆模型,包括:轮子、n个连杆和n个转动关节,第一连杆是轮腿式机器人至少两个腿部机构对应的等效连杆,轮子是至少两个腿部机构分别连接的移动轮对应的等效移动轮,方法包括:获取轮腿式机器人在第一时刻的实际状态量;对第一时刻的实际状态量进行处理,得到第一时刻的等效状态量;根据第一时刻的等效状态量,建立滑模面;根据滑模面、第一时刻的等效状态量和动力学方程,确定关于轮腿式机器人的力和力矩指令;在第二时刻,根据力和力矩指令,对n个转动关节进行控制。实现n个连杆的姿态可调,有助于提升平衡控制的鲁棒性。
Balance control method, device and equipment for wheel-legged robot and storage medium
轮腿式机器人的平衡控制方法、装置、设备及存储介质
2024-11-26
Patent
Electronic Resource
Chinese
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