Method and apparatus for controlling wheel-legged robot, wheel-legged robot, and device

An apparatus for controlling a wheel-legged robot comprising:

• at least one memory configured to store program code;
• and
• at least one processor configured to read the program code and operate as instructed by the program code, the program code comprising:
• obtaining code configured to cause at least one of the at least one processor to obtain current motion state data of the wheel-legged robot, the current motion state data representing motion features of the wheel-legged robot;
• determining code configured to cause at least one of the at least one processor to input 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
• output code configured to cause at least one of the at least one processor to input 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.

A non-transitory computer-readable storage medium, storing computer code that, when executed by at least one processor, causes the at least one processor to at least

• obtain current motion state data of a wheel-legged robot, the current motion state data representing motion features of the wheel-legged robot;
• input 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
• input 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.