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 comprises a moving wheel, n connecting rods and n rotating joints, the moving wheel is connected with a first connecting rod in the n connecting rods through a first rotating joint in the n rotating joints, the n connecting rods are connected in series through n-1 rotating joints except the first rotating joint, n is a positive integer larger than or equal to 2, and n is a positive integer larger than or equal to 2. The method comprises the following steps: acquiring a state quantity of the wheel-legged robot at a first moment; according to a kinetic equation of the wheel-legged robot and the state quantity at the first moment, kinetic model parameters are determined; establishing a sliding mode surface according to the state quantity at the first moment; according to the sliding mode surface and the kinetic model parameters, the rotating torque of the n rotating joints is calculated; and controlling the rotating joints according to the rotating torques of the n rotating joints. The postures of the n connecting rods in the robot are adjustable in the balance adjustment process, and the robustness of the balance adjustment process is 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。轮腿式机器人包括:移动轮、n个连杆和n个转动关节,移动轮和n个连杆中第一连杆通过n个转动关节中的第一转动关节连接,n个连杆通过除第一转动关节之外的n‑1个转动关节串行连接,n为大于或等于2的正整数,方法包括:获取轮腿式机器人在第一时刻的状态量;根据轮腿式机器人的动力学方程和第一时刻的状态量,确定动力学模型参数;根据第一时刻的状态量,建立滑模面;根据滑模面和动力学模型参数,计算n个转动关节的转动力矩;根据n个转动关节的转动力矩,对转动关节进行控制。使得平衡调整过程中机器人中n个连杆的姿态可调,提升了平衡调整过程的鲁棒性。


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    Title :

    Balance control method, device and equipment for wheel-legged robot and storage medium


    Additional title:

    轮腿式机器人的平衡控制方法、装置、设备及存储介质


    Contributors:
    WANG SHUAI (author) / ZHOU QINQIN (author) / ZHENG YU (author)

    Publication date :

    2025-01-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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