公开(公告)号：US20240399567A1

公开(公告)日：2024-12-05

申请号：US18424323

申请日：2024-01-26

Applicant: Ubtech Robotics Corp Ltd

Inventor： BO TAO ,  Chunyu Chen

IPC: B25J9/16 ,  B60L15/20 ,  B62D57/028

Abstract: A robot control method includes: building a two-wheeled inverted pendulum model based on a wheel-legged robot; constructing initial state-space equations based on the two-wheeled inverted pendulum model; linearizing the initial state-space equations to obtain the state-space equations for a linear time-invariant system; obtaining a quadratic performance objective function according to the state-space equations for the linear time-invariant system; and solving the quadratic performance objective function by a linear quadratic regulator to obtain wheel torques of the wheel-legged robot, and controlling the wheel-legged robot according to the wheel torques.