Motion state control method and apparatus, device, and readable storage medium
US12321180B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 14, 2022 |
| Grant date | Jun 3, 2025 |
| Priority date | — |
| Expiry date | Mar 19, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/495
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
This application relates to the field of robot control, and provides a motion state control method and apparatus, a device, and a readable storage medium. The method includes the following steps: Step 301: Acquire basic data and motion state data, the basic data being used for representing a structural feature of a wheeled robot, and the motion state data being used for representing a motion feature of the wheeled robot. Step 302: Determine a state matrix of the wheeled robot based on the basic data and the motion state data, the state matrix being related to an interference parameter of the wheeled robot, the interference parameter corresponding to a balance error of the wheeled robot. Step 303: Determine, based on the state matrix, a torque for controlling the wheeled robot. Step 304: Control, by using the torque, the wheeled robot to be in a standstill state.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.