Method and apparatus for control robot to perform somersault motion, and robot

A robot, comprising:

• a wheel-leg portion;
• a base portion connected to the wheel-leg portion via a joint;
• and
• a controller configured to perform a method comprising:
• receiving a motion instruction for the robot;
• and
• controlling a torque of the joint according to the motion instruction to allow the robot to perform a somersault motion through a takeoff phase, a flight phase, and a landing phase;
• wherein:
• during the takeoff phase of the somersault motion, a center of mass of the wheel-leg portion is lower than a center of mass of the base portion,
• during the flight phase of the somersault motion, the center of mass of the wheel-leg portion is higher than the center of mass of the base portion at some point in time, and
• during the landing phase of the somersault motion, the center of mass of the wheel-leg portion is lower than the center of mass of the base portion.

A non-transitory computer readable storage medium, comprising processor executable instructions for performing a method for controlling a robot, the processor executable instructions, when executed by a processor, configured to cause the processor to:

• receive a motion instruction for the robot, wherein the robot comprises a wheel-leg portion and a base portion connected to the wheel-leg portion via a joint;
• and
• control a torque of the joint according to the motion instruction to allow the robot to perform a somersault motion through a takeoff phase, a flight phase, and a landing phase;
• wherein:
• during the takeoff phase of the somersault motion, a center of mass of the wheel-leg portion is lower than a center of mass of the base portion,
• during the flight phase of the somersault motion, the center of mass of the wheel-leg portion is higher than the center of mass of the base portion at some point in time, and
• during the landing phase of the somersault motion, the center of mass of the wheel-leg portion is lower than the center of mass of the base portion.