ROBOT CONTROL METHOD AND APPARATUS, ROBOT, COMPUTER-READABLE STORAGE MEDIUM, AND COMPUTER PROGRAM PRODUCT
ROBOT CONTROL METHOD AND APPARATUS, ROBOT, COMPUTER-READABLE STORAGE MEDIUM, AND COMPUTER PROGRAM PRODUCT
- Neue Suche nach: ZHANG JINGFAN
- Neue Suche nach: ZHANG JINGFAN
A control method, executed by a control device, controlling a robot comprising a wheel leg portion and a base portion, the wheel leg portion and the base portion comprising a plurality of joints, the method including obtaining motion information of the robot and motion information of a sphere placed on the base portion of the robot, determining, based on the motion information of the robot and the motion information of the sphere when passivity based control is performed on the sphere and the base portion, base control information for controlling the base portion and balancing the sphere on the base portion, determining, based on the base control information, a control torque for controlling each joint of the plurality of joints, and controlling each joint based on the corresponding control torque.
Dokumentinformationen
ROBOT CONTROL METHOD AND APPARATUS, ROBOT, COMPUTER-READABLE STORAGE MEDIUM, AND COMPUTER PROGRAM PRODUCT
2024-05-30
Patent
Elektronische Ressource
Englisch
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