Method and apparatus for controlling wheel-legged robot
AssigneeTencent Technology (Shenzhen) Company Limited
InventorsShuai Wang, Jingfan Zhang
Life of this patent
Estimating the term…
Abstract
A method and apparatus for controlling a wheel-legged robot are provided. The method includes: controlling a first wheel leg to move from a first step onto a second step, controlling a second wheel leg and an auxiliary wheel leg to be stabilized on the first step; controlling the second wheel leg to move from the first step onto the second step, controlling the first wheel leg to be stabilized on the second step, and controlling the auxiliary wheel leg to be stabilized on the first step; and controlling the auxiliary wheel leg to move from the first step onto the second step, and controlling the first wheel leg and the second wheel leg to be stabilized on the second step.
Claims20
A method for controlling a wheel-legged robot, performed by the wheel-legged robot, the wheel-legged robot comprising a first wheel leg, a second wheel leg, and an auxiliary wheel leg, and the method comprising:
- controlling the first wheel leg to move from a first step onto a second step;
- controlling the second wheel leg and the auxiliary wheel leg to be stabilized on the first step, a height difference existing between the first step and the second step;
- after the first wheel leg being moved onto the second step, controlling the second wheel leg to move from the first step onto the second step;
- controlling the first wheel leg to be stabilized on the second step;
- controlling the auxiliary wheel leg to be stabilized on the first step;
- controlling the auxiliary wheel leg to move from the first step onto the second step;
- and
- controlling the first wheel leg and the second wheel leg to be stabilized on the second step.
An apparatus for controlling a wheel-legged robot, the wheel-legged robot comprising a first wheel leg, a second wheel leg, and an auxiliary wheel leg, and the apparatus comprising:
- a memory operable to store computer-readable instructions;
- and
- a processor circuitry operable to read the computer-readable instructions, the processor circuitry when executing the computer-readable instructions is configured to:
- control the first wheel leg to move from a first step onto a second step;
- control the second wheel leg and the auxiliary wheel leg to be stabilized on the first step, a height difference existing between the first step and the second step;
- after the first wheel leg being moved onto the second step, control the second wheel leg to move from the first step onto the second step;
- control the first wheel leg to be stabilized on the second step;
- control the auxiliary wheel leg to be stabilized on the first step;
- control the auxiliary wheel leg to move from the first step onto the second step;
- and
- control the first wheel leg and the second wheel leg to be stabilized on the second step.
A non-transitory machine-readable media, having instructions stored on the machine-readable media to control a wheel-legged robot, the wheel-legged robot comprising a first wheel leg, a second wheel leg, and an auxiliary wheel leg, the instructions configured to, when executed, cause a machine to:
- control the first wheel leg to move from a first step onto a second step;
- control the second wheel leg and the auxiliary wheel leg to be stabilized on the first step, a height difference existing between the first step and the second step;
- after the first wheel leg being moved onto the second step, control the second wheel leg to move from the first step onto the second step;
- control the first wheel leg to be stabilized on the second step;
- control the auxiliary wheel leg to be stabilized on the first step;
- control the auxiliary wheel leg to move from the first step onto the second step;
- and
- control the first wheel leg and the second wheel leg to be stabilized on the second step.
Dependencies are inferred from the claim text.