Robot control method and apparatus, robot and computer-readable storage medium

A robot control apparatus, comprising:

• processing circuitry configured to:
• adaptively determine first control information for controlling rotation of a driving wheel of a wheel-legged part of a robot based on motion information of the robot that is generated while the robot is in motion;
• determine influencing data of a rotational velocity of the driving wheel on a posture of a base part of the robot and a velocity of the base part based on the first control information and the motion information of the robot;
• determine an expected acceleration of the base part based on the influencing data;
• determine second control information for controlling a plurality of joints of the wheel-legged part of the robot based on the expected acceleration, the second control information being configured to adjust a center of gravity of the robot such that the plurality of joints is controlled based on the second control information to balance the robot;
• determine third control information for controlling the plurality of joints based on a target trajectory of the robot, the third control information being configured to adjust the posture of the base part of the robot such that a potential energy associated with the robot is converted into a dynamic energy of the robot to assist movement of the robot along the target trajectory;
• determine a respective control torque for controlling each joint in the plurality of joints based on motion constraint condition information of the robot, the second control information, and the third control information, the motion constraint condition information of the robot including at least one of a dynamic constraint condition, a closed-loop linkage constraint condition, a nonholonomic constraint condition, or a friction constraint condition;
• and
• control each joint in the plurality of joints based on the control torque of the respective joint, wherein
• the wheel-legged part is connected to the base part of the robot.

A non-transitory computer-readable storage medium, storing instructions which when executed by a processor cause the processor to perform:

• adaptively determining first control information for controlling rotation of a driving wheel of a wheel-legged part of a robot based on motion information of the robot that is generated while the robot is in motion;
• determining influencing data of a rotational velocity of the driving wheel on a posture of a base part of the robot and a velocity of the base part based on the first control information and the motion information of the robot;
• determining an expected acceleration of the base part based on the influencing data;
• determining second control information for controlling a plurality of joints of the wheel-legged part of the robot based on the expected acceleration, the second control information being configured to adjust a center of gravity of the robot such that the plurality of joints is controlled based on the second control information to balance the robot;
• determining third control information for controlling the plurality of joints based on a target trajectory of the robot, the third control information being configured to adjust the posture of the base part of the robot such that a potential energy associated with the robot is converted into a dynamic energy of the robot to assist movement of the robot along the target trajectory;
• determining a respective control torque for controlling each joint in the plurality of joints based on motion constraint condition information of the robot, the second control information, and the third control information, the motion constraint condition information of the robot including at least one of a dynamic constraint condition, a closed-loop linkage constraint condition, a nonholonomic constraint condition, or a friction constraint condition;
• and
• controlling each joint in the plurality of joints based on the control torque of the respective joint, wherein
• the wheel-legged part is connected to the base part of the robot.