Mobile robot motion control method and mobile robot

A method for controlling motion of a mobile robot performed by a computer device, the mobile robot comprising a first wheel part, a second wheel part, and a base part connected to the first wheel part and the second wheel part, the first wheel part is located in a first direction of the base part, and the second wheel part is located in a second direction of the base part, and the method comprising:

• controlling the first wheel part and the second wheel part to be in a standing balance state, wherein the base part is parallel to a horizontal reference plane in the standing balance state;
• and
• controlling the mobile robot to perform bipedal-like motion based on the standing balance state, wherein, during the bipedal-like motion, the first wheel part and the second wheel part alternately touch the ground while the base part obliquely swinging, further comprising:
• controlling the mobile robot to change from the standing balance state to a first inclined state in which the base part is inclined toward the first direction;
• controlling the mobile robot to restore from the first inclined state to the standing balance state while the first wheel part is in contact with the ground and the second wheel part is in suspension;
• controlling the mobile robot to change from the standing balance state to a second inclined state in which the base part is inclined toward the second direction;
• and
• controlling the mobile robot to restore from the second inclined state to the standing balance state while the second wheel part is in contact with the ground and the first wheel is in suspension.