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;...
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| creator | CHEN CHUNYU YAN MENG ZHOU JIANGCHEN |
| description | 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 |
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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</description><language>chi ; eng</language><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL ; CONTROLLING ; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS ; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS ; PHYSICS ; REGULATING</subject><creationdate>2024</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240412&DB=EPODOC&CC=CN&NR=117872853A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20240412&DB=EPODOC&CC=CN&NR=117872853A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>CHEN CHUNYU</creatorcontrib><creatorcontrib>YAN MENG</creatorcontrib><creatorcontrib>ZHOU JIANGCHEN</creatorcontrib><title>Motion control method and device of two-wheeled robot, robot and storage medium</title><description>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</description><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL</subject><subject>CONTROLLING</subject><subject>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</subject><subject>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</subject><subject>PHYSICS</subject><subject>REGULATING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2024</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZPD3zS_JzM9TSM7PKynKz1HITS3JyE9RSMxLUUhJLctMTlXIT1MoKc_XLc9ITc1JTVEoyk_KL9GBUGBlxSX5RYnpqUCdKZmluTwMrGmJOcWpvFCam0HRzTXE2UM3tSA_PrW4IDE5NS-1JN7Zz9DQ3MLcyMLU2NGYGDUALUM2oA</recordid><startdate>20240412</startdate><enddate>20240412</enddate><creator>CHEN CHUNYU</creator><creator>YAN MENG</creator><creator>ZHOU JIANGCHEN</creator><scope>EVB</scope></search><sort><creationdate>20240412</creationdate><title>Motion control method and device of two-wheeled robot, robot and storage medium</title><author>CHEN CHUNYU ; YAN MENG ; ZHOU JIANGCHEN</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN117872853A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2024</creationdate><topic>CONTROL OR REGULATING SYSTEMS IN GENERAL</topic><topic>CONTROLLING</topic><topic>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</topic><topic>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</topic><topic>PHYSICS</topic><topic>REGULATING</topic><toplevel>online_resources</toplevel><creatorcontrib>CHEN CHUNYU</creatorcontrib><creatorcontrib>YAN MENG</creatorcontrib><creatorcontrib>ZHOU JIANGCHEN</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>CHEN CHUNYU</au><au>YAN MENG</au><au>ZHOU JIANGCHEN</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Motion control method and device of two-wheeled robot, robot and storage medium</title><date>2024-04-12</date><risdate>2024</risdate><abstract>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</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING |
| title | Motion control method and device of two-wheeled robot, robot and storage medium |
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