Method and apparatus for controlling wheel-legged robot, wheel-legged robot, and device
US12290921B2 · kind B2 · utility
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1References
20Claims
0Family size
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Key dates
| Filing date | Nov 21, 2022 |
| Grant date | May 6, 2025 |
| Priority date | — |
| Expiry date | Nov 21, 2043 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J13/088
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A method includes: 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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.