Motion control method and device of two-wheeled robot, robot and storage medium

The invention is suitable for the technical field of robots, and provides a motion control method and device of a two-wheeled robot, the robot and a storage medium. The motion control method of the two-wheeled robot comprises the following steps: acquiring a motion control instruction for the robot; determining the double-wheel torque of the robot according to the motion control instruction; performing disturbance observation on the robot through a disturbance observer, wherein the disturbance observer is obtained based on a double-wheel inverted pendulum model; and according to the disturbance observation result, the double-wheel torque of the robot is adjusted, and the robot is controlled to move according to the adjusted double-wheel torque. According to the embodiment of the invention, the anti-disturbance capability and the motion accuracy of the two-wheeled robot can be improved. 本申请适用于机器人技术领域，提供了一种两轮足机器人的运动控制方法、装置、机器人和存储介质。其中，所述两轮足机器人的运动控制方法包括：获取对机器人的运动控制指令；根据所述运动控制指令确定所述机器人的双轮力矩；通过扰动观测器对所述机器人进行扰动观测，所述