Wheel-foot robot, balance control method and device thereof and storage medium

The invention relates to the field of wheel-foot robots, in particular to a wheel-foot robot, a balance control method and device thereof and a storage medium. The method comprises the following steps: determining a stress model of the wheel-foot robot; determining a sliding mode surface of a wheel-foot robot system according to the stress model of the wheel-foot robot; determining an approaching law and a control law of the wheel-foot robot system according to the sliding mode surface; and controlling the balance of the wheel-foot robot according to a sliding mode controller comprising the sliding mode surface sum, the reaching law and the control law. Due to the fact that the sliding mode controller can apply the control force according to the system error and the control law, the system is pushed to the sliding mode face, the system can have high adaptability to uncertain external disturbance, the robustness of the wheel-foot robot system is improved, and the balance of the wheel-foot robot is improved. 本申