US 12,290,921 B2
Method and apparatus for controlling wheel-legged robot, wheel-legged robot, and device
Shuai Wang, Shenzhen (CN); Haitao Wang, Shenzhen (CN); Xinyang Jiang, Shenzhen (CN); Jiafeng Xu, Shenzhen (CN); Dongsheng Zhang, Shenzhen (CN); Ke Chen, Shenzhen (CN); Jingfan Zhang, Shenzhen (CN); Jie Lai, Shenzhen (CN); and Yu Zheng, Shenzhen (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed by TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Guangdong (CN)
Filed on Nov. 21, 2022, as Appl. No. 17/991,585.
Application 17/991,585 is a continuation of application No. PCT/CN2022/088204, filed on Apr. 21, 2022.
Claims priority of application No. 202110604984.4 (CN), filed on May 31, 2021.
Prior Publication US 2023/0087057 A1, Mar. 23, 2023
Int. Cl. B25J 5/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 5/007 (2013.01) [B25J 9/1615 (2013.01); B25J 9/163 (2013.01); B25J 9/1648 (2013.01); B25J 9/1653 (2013.01); B25J 9/1664 (2013.01); B25J 13/088 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a wheel-legged robot, performed by at least one processor, the method comprising:
obtaining current motion state data of the wheel-legged robot, the current motion state data representing motion features of the wheel-legged robot;
inputting the current motion state data into a nonlinear controller to obtain a target joint angular acceleration reference value of a target robot joint of the wheel-legged robot; and
inputting the target joint angular acceleration reference value into a whole-body dynamics controller to output a joint torque for controlling the wheel-legged robot to perform a control task.