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AssigneeTencent Technology (Shenzhen) Company Limited
InventorJingfan Zhang
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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.
A control method, executed by a control device, for 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, and the wheel leg portion comprising at least two legs connected to at least one driving wheel, the control method comprising:
A robot, comprising:
A non-volatile computer-readable storage medium, storing computer code which, when executed by at least one processor, causes the at least one processor to at least:
Dependencies are inferred from the claim text.