Method for building controller for robot, method, device for controlling motion of robot, and robot
AssigneeTencent Technology (Shenzhen) Company Limited
InventorsShuai Wang, Jingfan Zhang
Life of this patent
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Abstract
A method for configuring a controller for a wheel-legged robot includes: controlling motion of the robot, and obtaining motion state data and control data of the robot during a motion process, where diversity measures of the motion state data and the control data are higher than a predetermined threshold; calculating a linear equilibrium parameter matrix by using a data iteration method according to the motion state data and the control data; and configuring a controller corresponding to dynamic characteristics of the robot based on the linear equilibrium parameter matrix.
Claims19
A method for configuring a controller for a wheel-legged robot, executed by a processor, the robot comprising a base portion and one or more wheel legs connected to the base portion, the method comprising:
- controlling motion of the robot, comprising at least one of:
- controlling a drive motor to output a first torque, causing a center of mass of a base portion to be first raised and then lowered, and causing the robot to lose equilibrium with a front end of the base portion contacting a ground;
- or
- controlling the drive motor to output a second torque, causing the center of mass of the base portion to be first raised and then lowered, and causing the robot to lose the equilibrium with a rear end of the base portion contacting the ground;
- obtaining motion state data and control data of the robot during a motion process, wherein diversity measures of the motion state data and the control data are higher than a predetermined threshold;
- calculating a linear equilibrium parameter matrix by using a value iteration manner according to the motion state data and the control data;
- and
- configuring the controller corresponding to dynamic characteristics of the robot based on the linear equilibrium parameter matrix.
A robot, comprising:
- a base portion;
- one or more wheel legs connected to the base portion;
- at least one drive motor configured to drive the one or more wheel legs, the at least one drive motor being controlled by a controller to perform at least one of:
- outputting a first torque, causing a center of mass of a base portion to be first raised and then lowered, and causing the robot to lose equilibrium with a front end of the base portion contacting a ground;
- or
- outputting a second torque, causing the center of mass of the base portion to be first raised and then lowered, and causing the robot to lose the equilibrium with a rear end of the base portion contacting the ground;
- a data collection device configured to:
- obtain motion state data of the robot;
- and
- a data processing device configured to:
- obtain control data corresponding to the motion state data;
- and
- calculate a linear equilibrium parameter matrix by using a value iteration manner based on the motion state data and the control data, wherein diversity measures of the motion state data and the control data are higher than a predetermined threshold;
- and
- configure the controller corresponding to dynamic characteristics of the robot based on the linear equilibrium parameter matrix.
A non-transitory computer readable storage medium, storing computer readable instructions, the computer readable instructions when executed by one or more processors, causing the one or more processors to perform:
- controlling motion of a robot, the robot comprising a base portion and one or more wheel legs connected to the base portion;
- controlling motion of the robot, comprising at least one of:
- controlling a drive motor to output a first torque, causing a center of mass of a base portion to be first raised and then lowered, and causing the robot to lose equilibrium with a front end of the base portion contacting a ground;
- or
- controlling the drive motor to output a second torque, causing the center of mass of the base portion to be first raised and then lowered, and causing the robot to lose the equilibrium with a rear end of the base portion contacting the ground;
- obtaining motion state data and control data of the robot during a motion process, wherein diversity measures of the motion state data and the control data are higher than a predetermined threshold;
- calculating a linear equilibrium parameter matrix by using a value iteration manner according to the motion state data and the control data;
- and
- configuring a controller corresponding to dynamic characteristics of the robot based on the linear equilibrium parameter matrix.
Dependencies are inferred from the claim text.