Robot control method, and computer-readable storage medium and wheel-legged biped robot using the same

A non-transitory computer-readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise:

• instructions for determining a kinetic model of a wheel-legged biped robot;
• instructions for determining, using the kinetic model, a sliding surface of the wheel-legged biped robot;
• instructions for determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot;
• and
• instructions for controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot.

A wheel-legged biped robot, comprising:

• a processor;
• a memory coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for determining a kinetic model of the wheel-legged biped robot;
• instructions for determining, using the kinetic model, a sliding surface of the wheel-legged biped robot;
• instructions for determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot;
• and
• instructions for controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot.