Control method and control device of wheel-foot robot and wheel-foot robot
By setting the angle between the thigh and lower leg in the wheeled robot to make the center of gravity fall within the supporting polygon, and by adjusting the angle in combination with real-time data, the problem of balance and motion stability of the wheeled robot in unstructured environments is solved, and efficient and stable dynamic motion control is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-13
- Publication Date
- 2026-03-31
AI Technical Summary
Wheeled robots struggle to maintain balance while performing efficient movements in unstructured environments, especially when moving quickly or encountering sudden collisions, which can lead to delayed response, instability, or even tipping over.
By setting a first target angle between the thigh and the calf, the robot's center of gravity falls within the supporting polygon. The angle is adjusted in conjunction with real-time data to maintain dynamic balance, and small-amplitude posture adjustments are made when there is slight imbalance, reducing the range of joint adjustments and energy consumption.
It achieves a balance between stability and agility in both static and dynamic motion of the robot, reduces energy consumption and response delay, and improves motion adaptability and reliability in unstructured environments.
Smart Images
Figure CN121756299A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics technology, and in particular to a control method, control device, and wheeled robot for a wheeled robot. Background Technology
[0002] Wheeled-legged robots, as a hybrid mobile platform combining the high efficiency of wheeled mobility with the obstacle-crossing capabilities of legged movement, show broad application prospects in unstructured environments. However, in practical applications, the motion stability of wheeled-legged robots still faces challenges. For example, when receiving commands for rapid movement or encountering sudden collisions or bumps, robots often struggle to maintain balance while maintaining efficient movement, easily exhibiting problems such as delayed response, posture instability, or even tipping over.
[0003] Existing solutions mostly focus on static standing stability or simple motion balance control. During the transition from static to dynamic, the joints need to be adjusted significantly, resulting in start-up delay and energy loss. In dynamic motion, balance control relies on passive correction after imbalance, which has lag and insufficient smoothness of movement and terrain adaptability. These limitations restrict the reliable application of wheeled robots in operation scenarios that require high agility and high robustness.
[0004] It should be noted that the above content is not necessarily prior art, nor is it intended to limit the scope of patent protection of this application. Summary of the Invention
[0005] This application provides a control method, control device, and wheeled robot for a wheeled robot, in order to solve or alleviate one or more of the technical problems mentioned above.
[0006] One aspect of this application provides a control method for a wheeled robot, the wheeled robot including a leg unit composed of a thigh and a lower leg, the control method including:
[0007] Obtain the initialization instruction; In response to the initialization command, the angle between the thigh and the calf is adjusted to the first target angle, which is the robot's center of gravity falling into the supporting polygon. The supporting polygon is composed of multiple supporting nodes of the leg unit connected together.
[0008] In one implementation, the control method further includes: Obtain movement commands and current data, including the robot's speed, current terrain, and current pose. In response to a movement command, and based on current data, a second target angle between the thigh and lower leg is determined; Drive the thigh and / or calf to rotate, so that the angle between the thigh and calf is adjusted to the second target angle.
[0009] In one implementation, the difference between the second target angle and the first target angle is less than a first threshold; the first threshold is determined based on the maximum restricted distance from the robot's center of gravity to the supporting polygon.
[0010] In one embodiment, the leg unit further includes wheeled feet that, in response to a movement command, determine a second target angle between the thigh and lower leg based on current data, including: Responding to movement commands and determining the target position of the wheel feet based on current data; The second target angle between the thigh and calf of the leg unit containing the wheel foot is determined based on the target position of the wheel foot.
[0011] In one implementation, the control method further includes: Obtain information about posture imbalance; Based on posture imbalance information, determine whether the robot needs initialization; If the judgment result is yes, an initialization command is issued.
[0012] In one implementation, the control method further includes: If the judgment result is negative, adjust the third target angle between the thigh and the calf. The third target angle is the angle whose difference from the first target angle is less than the first threshold.
[0013] In one implementation, the control method further includes: Obtain the robot's structural parameters; these parameters include thigh length and lower leg length. The first target angle is determined based on structural parameters.
[0014] Another aspect of this application provides a control device for a wheeled robot, the wheeled robot including a leg unit composed of a thigh and a lower leg, characterized in that the control device includes: An initialization module is used to obtain initialization instructions; The drive module is used to respond to the initialization command and adjust the angle between the thigh and the lower leg to the first target angle. The first target angle is such that the robot's center of gravity falls into the support polygon, which is composed of multiple support nodes of the leg unit connected together.
[0015] Another aspect of this application provides a wheeled robot, comprising: At least one processor; and A memory that is communicatively connected to the at least one processor; Wherein: the memory stores instructions that can be executed by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described above.
[0016] Another aspect of this application provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the method described above.
[0017] Another aspect of this application provides a computer program product including a computer program that, when executed by a processor, implements the method described above.
[0018] In this embodiment, the static equilibrium state is set as a posture where the thigh and lower leg form a first target angle, and the robot's center of gravity is located within the supporting polygon. In this posture, compared to the traditional method, the robot's center of gravity is lower, making it easier to maintain balance and less prone to spontaneous tipping. Furthermore, the transition from this static equilibrium posture to dynamic movement reduces the joint adjustment range and time required for the transition from static to dynamic, enabling the robot to respond to movement commands with lower energy consumption and shorter latency, achieving a unity of static stability and dynamic agility. Attached Figure Description
[0019] The accompanying drawings exemplify embodiments and form part of the specification, serving together with the textual description to explain exemplary implementations of the embodiments. The illustrated embodiments are for illustrative purposes only and do not limit the scope of the claims. Throughout the drawings, the same reference numerals refer to similar but not necessarily identical elements.
[0020] Figure 1 A flowchart illustrating a control method according to an embodiment of this application is shown schematically; Figure 2 A flowchart illustrating a control method according to another embodiment of this application is shown schematically; Figure 3 A flowchart illustrating a control method according to yet another embodiment of this application is shown schematically; Figure 4 A schematic block diagram of a control device according to an embodiment of this application is shown; and Figure 5 A schematic diagram of the hardware architecture of a computer device according to an embodiment of this application is shown. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.
[0022] It should be noted that the descriptions involving "first," "second," etc., in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.
[0023] In the description of this application, it should be understood that the numerical labels before the steps do not indicate the order of the steps, but are only used to facilitate the description of this application and to distinguish each step, and therefore should not be construed as a limitation of this application.
[0024] This application provides a control method for a wheeled robot. The executing entity can be a processor or controller built into the wheeled robot. The wheeled robot includes a leg unit composed of a thigh and a lower leg, and the processor is communicatively connected to the drive components of the thigh and lower leg. Figure 1 As shown, the control method includes: S210, obtain initialization instructions.
[0025] S220, in response to the initialization command, adjusts the angle between the thigh and the lower leg to the first target angle, the first target angle is such that the robot's center of gravity falls into the supporting polygon, the supporting polygon is formed by connecting multiple supporting nodes of the leg unit.
[0026] When the robot is powered on or asked to enter a ready state, it receives an initialization command.
[0027] In response to this initialization command, the drive motors of each joint in the leg unit rotate the thigh and / or lower leg, thereby adjusting the angle between the thigh and lower leg links to a pre-set first target angle. This first target angle is the vertical projection of the robot's overall center of gravity onto the horizontal plane, falling within a support polygon formed by multiple support nodes of the leg units. This ensures the robot remains balanced. The multiple support nodes can be the lower leg end, the connection point between the lower leg and thigh, and the connection point between the thigh and hip. Two leg units have six support points, forming a support hexagon.
[0028] After initialization, the robot maintains a balanced posture but has not yet started moving; this state is a static equilibrium state.
[0029] In traditional robot control, the posture of static equilibrium is the standing posture with legs.
[0030] In this embodiment, the static equilibrium state is set as a posture where the thigh and lower leg form a first target angle, and the robot's center of gravity is located within the supporting polygon, maintaining balance. In this posture, compared to the traditional method, the robot's center of gravity is lower, making it easier to maintain balance and less prone to spontaneous tipping. Furthermore, the transition from this static equilibrium posture to dynamic movement reduces the joint adjustment range and time required for the transition from static to dynamic, enabling the robot to respond to movement commands with lower energy consumption and shorter latency, achieving a unity of static stability and dynamic agility.
[0031] In one implementation, such as Figure 2 As shown, the control method also includes: S230, obtain movement commands and current data, including the robot's movement speed, current terrain, and the robot's current posture.
[0032] S240, in response to the movement command, determines the second target angle between the thigh and the lower leg based on the current data.
[0033] S250 drives the thigh and / or calf to rotate, thereby adjusting the angle between the thigh and calf to the second target angle.
[0034] In this embodiment, dynamic motion control of the robot is implemented after it has started and maintained static balance. When the robot receives movement commands such as forward, backward, or turning, it simultaneously uses collected current data, including the robot's speed, current terrain information perceived by a depth camera or LiDAR, and the robot's current attitude (such as pitch and roll angles) obtained by an IMU (Inertial Measurement Unit). The processor integrates this real-time data and, through its built-in motion planning and balance control algorithms, calculates the second target angle between the thigh and lower leg required to maintain dynamic balance under the current motion target and environmental constraints. Subsequently, the controller drives the relevant joint motors to quickly adjust the leg angle to this second target angle.
[0035] In one example, if the terrain in the current data is uphill, then the angle of the second target needs to be determined based on the slope so that the robot can still maintain balance and stability in this slope environment.
[0036] In another example, the terrain in the current data is flat. Therefore, the angle of the second target can be the same as the angle of the first target, meaning there's no need to adjust the thigh and calf; the wheel foot can simply roll forward in this balanced state.
[0037] In another example, when the current movement speed exceeds a certain threshold, the rotation of the thigh and lower leg can be adjusted so that the angle between the thigh and lower leg (the second target angle) is smaller than the first target angle, thereby further lowering the robot's center of gravity and preventing it from derailing after excessive speed.
[0038] In one implementation, the difference between the second target angle and the first target angle is less than a first threshold; the first threshold is determined based on the maximum restricted distance from the robot's center of gravity to the supporting polygon.
[0039] In this embodiment, the difference (absolute value) between the second target angle in the dynamic motion phase and the first target angle in the static equilibrium phase is less than a preset first threshold, so that the angle between the robot's thigh and calf always fluctuates within a small range and does not produce a large angle, further ensuring the robot's balance and stability.
[0040] In this embodiment, the first threshold is calculated based on the robot's physical parameters. For example, the physical parameter is the maximum allowable distance (maximum limit distance) from the robot's center of gravity to each boundary of the supporting polygon within its possible range of movement; for instance, the distance from the robot's center of gravity to the supporting polygon is limited to a maximum of 5 cm beyond the nearest edge. Through dynamic analysis, it can be determined that when the center of gravity shifts beyond this distance, the robot will find it difficult to maintain balance through wheel drive or small posture adjustments, and the risk of instability will increase dramatically. Therefore, the first threshold sets a dynamically adjustable safety boundary, providing a clear stability margin boundary for the robot's dynamic movement. By limiting the adjustment range of the leg posture, it is ensured that the robot's center of gravity does not deviate excessively from the static equilibrium point during dynamic processes, thus always remaining within a stable region that is easy to recover from. This allows the robot to optimize drive efficiency and adaptability through posture adjustments when executing rapid movement commands, while fundamentally avoiding instability caused by excessive movements.
[0041] In one embodiment, the leg unit further includes wheels, and step S240 includes: Responding to movement commands and determining the target position of the wheel feet based on current data; The second target angle between the thigh and calf of the leg unit containing the wheel foot is determined based on the target position of the wheel foot.
[0042] This application provides a control method for scenarios where the robot needs to take steps. When the robot moves on a flat surface or a slope, the wheels only need to rotate and do not need to take steps. When a step is required, or when climbing stairs, one wheel needs to step out first, followed by the second wheel. The stepping process can be subdivided into multiple steps. The target position of the wheel is determined in each step, and then a second target angle between the thigh and the lower leg is determined. The rotation of the thigh and lower leg is controlled based on the second target angle.
[0043] When responding to movement commands, the core task of the control unit is to determine the target position of each "wheeled leg" (i.e., the wheeled leg) in the next control cycle. This target position is the ideal landing point of the wheel, planned based on movement commands (such as velocity vectors) and current data (such as terrain elevation maps). Once the target position of the wheeled leg is determined, and combined with the current position of the leg's hip joint (usually determined by the fuselage coordinates), the controller can uniquely solve for the second target angle that needs to be achieved between the thigh and lower leg using simple geometric calculations (e.g., based on thigh length, lower leg length, and the target wheel center position).
[0044] In one implementation, such as Figure 3 As shown, the control method also includes: S260, obtains attitude imbalance information.
[0045] S270 determines whether the robot needs initialization based on posture imbalance information; S280 issues an initialization command if the judgment result is yes.
[0046] Posture imbalance information refers to the situation where a robot encounters an accidental collision or falls. If the imbalance is severe, the robot needs to be initialized so that it can quickly return to normal operation after initialization.
[0047] In one embodiment, the control method further includes: if the determination result is negative, adjusting the third target angle between the thigh and the calf, wherein the third target angle is an angle whose difference from the first target angle is less than a first threshold.
[0048] This embodiment addresses a mild imbalance situation. When the robot is determined, based on posture imbalance information, not to require full initialization (i.e., not to the point of a severe fall), the controller enters a rapid balance compensation mode. After fine-tuning, the angle between the thigh and lower leg is adjusted to a third target angle. The difference between this third target angle and the first target angle for static balance must still be less than the first threshold to ensure that the recovery action itself does not introduce new instability. Small-scale posture fine-tuning maintains dynamic balance. Faced with minor external impacts (such as bumps on uneven ground or slight collisions at low speeds), the robot does not need to interrupt its current motion task or enter a complex recovery procedure. It can quickly offset the disturbance and pull its center of gravity back to a stable area simply through rapid, small-amplitude coordinated movements of the leg joints, much like an animal.
[0049] In one implementation, the control method further includes: Obtain the robot's structural parameters; these parameters include thigh length and lower leg length. The first target angle is determined based on structural parameters.
[0050] This embodiment relates to the initialization of static equilibrium posture. Before adjusting to the first target angle, the control device needs to obtain the robot's structural parameters, such as the lengths of the thigh and calf links of each leg. These parameters can be factory preset and stored in the controller, or they can be obtained in real time through a self-calibration program. Based on these specific structural parameters and combined with predefined static equilibrium geometric constraints, the controller determines a unique or optimal first target angle value through geometric calculation or table lookup.
[0051] Static equilibrium geometric constraints can be, for example, the horizontal distance D1 between the geometric center points of the thigh and the lower leg, and the horizontal distance D2 between the geometric center points of the lower leg and the wheel foot satisfying the following: 0.4 ≤ |D2| / |D1| ≤ 0.8.
[0052] A ratio <0.4 indicates that the lower leg is too upright or the wheel is too close to the knee, resulting in a narrow support base and poor static stability; a ratio >0.8 may indicate that the lower leg is too tilted or the wheel is too far forward, resulting in low propulsion efficiency and slow response during acceleration.
[0053] This application's embodiments achieve precise and optimized static equilibrium posture through the robot's own structure. The robot can calculate the theoretically most stable pre-position based on its actual physical dimensions, rather than using a fixed value. This improves adaptability to different robot models or batches and ensures that even after long-term use and slight structural changes, it can still initialize to the optimal stable point, providing accurate and reliable initial conditions for subsequent rapid and smooth response to movement commands.
[0054] This application also provides a control device for a wheeled robot, which controls the wheeled robot, including a leg unit composed of a thigh and a lower leg, such as... Figure 4 As shown, the control device 400 includes: Initialization module 410 is used to obtain initialization instructions; The drive module 420 is used to respond to the initialization command and adjust the angle between the thigh and the lower leg to the first target angle. The first target angle is such that the robot's center of gravity falls into the support polygon, which is formed by connecting multiple support nodes of the leg unit.
[0055] In one embodiment, the control device 400 further includes: The mobility module is used to obtain mobility commands and current data, including the robot's speed, current terrain, and current pose. Angle determination module, used to respond to movement commands and determine a second target angle between the thigh and lower leg based on current data; The drive module 420 drives the thigh and / or calf to rotate, thereby adjusting the angle between the thigh and calf to the second target angle.
[0056] In one implementation, the difference between the second target angle and the first target angle is less than a first threshold; the first threshold is determined based on the maximum restricted distance from the robot's center of gravity to the supporting polygon.
[0057] In one embodiment, the leg unit further includes wheels and a drive module 420 for: Responding to movement commands and determining the target position of the wheel feet based on current data; The second target angle between the thigh and calf of the leg unit containing the wheel foot is determined based on the target position of the wheel foot.
[0058] In one embodiment, the control device 400 further includes: The information acquisition module is used to obtain attitude imbalance information; The judgment module is used to determine whether the robot needs to be initialized based on the posture imbalance information; The initialization instruction issuing module is used to issue an initialization instruction if the judgment result is yes.
[0059] In one embodiment, the control device 400 further includes: If the judgment result is negative, adjust the third target angle between the thigh and the calf. The third target angle is the angle whose difference from the first target angle is less than the first threshold.
[0060] In one embodiment, the control device 400 further includes: The structural parameter acquisition module is used to obtain the robot's structural parameters, including thigh length and lower leg length. The first target angle determination module is used to determine the first target angle based on structural parameters.
[0061] Figure 5 This illustration schematically shows a hardware architecture diagram of a computer device 10000 suitable for implementing a control method for a wheeled robot according to an embodiment of this application. In some embodiments, the computer device 10000 may be a terminal device such as a smartphone, wearable device, tablet computer, personal computer, vehicle terminal, game console, virtual device, workbench, digital assistant, set-top box, robot, etc. In other embodiments, the computer device 10000 may be a rack server, blade server, tower server, or cabinet server (including standalone servers or server clusters composed of multiple servers), etc. Figure 5As shown, the computer device 10000 includes, but is not limited to: a memory 10010, a processor 10020, and a network interface 10030 that can communicate and be linked with each other via a system bus. Wherein: The memory 10010 includes at least one type of computer-readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 10010 may be an internal storage module of a computer device 10000, such as the hard disk or memory of the computer device 10000. In other embodiments, the memory 10010 may also be an external storage device of the computer device 10000, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 10000. Of course, the memory 10010 may also include both the internal storage module and the external storage device of the computer device 10000. In this embodiment, the memory 10010 is typically used to store the operating system and various application software installed on the computer device 10000, such as the program code for the control method of the wheeled robot. In addition, the memory 10010 can also be used to temporarily store various types of data that have been output or will be output.
[0062] In some embodiments, processor 10020 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other chip. Processor 10020 is typically used to control the overall operation of computer device 10000, such as performing control and processing related to data interaction or communication with computer device 10000. In this embodiment, processor 10020 is used to run program code stored in memory 10010 or process data.
[0063] Network interface 10030 may include a wireless network interface or a wired network interface, which is typically used to establish a communication link between computer device 10000 and other computer devices. For example, network interface 10030 is used to connect computer device 10000 to an external terminal via a network, establishing a data transmission channel and communication link between computer device 10000 and the external terminal. The network may be an intranet, the Internet, Global System for Mobile Communication (GSM), Wideband Code Division Multiple Access (WCDMA), 4G network, 5G network, Bluetooth, Wi-Fi, or other wireless or wired networks.
[0064] It should be pointed out that, Figure 5 Only computer devices with components 10010-10030 are shown; however, it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.
[0065] In this embodiment, the control method of the wheeled robot stored in the memory 10010 can also be divided into one or more program modules and executed by one or more processors (such as processor 10020) to complete the embodiment of this application.
[0066] This application also provides a computer-readable storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the steps of the control method for the wheeled robot in the embodiments.
[0067] In this embodiment, the computer-readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the computer-readable storage medium can be an internal storage unit of a computer device, such as the hard disk or memory of the computer device. In other embodiments, the computer-readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device. Of course, the computer-readable storage medium can also include both the internal storage unit and the external storage device of the computer device. In this embodiment, the computer-readable storage medium is typically used to store the operating system and various application software installed on the computer device, such as the program code of the control method of the wheeled robot in this embodiment. In addition, the computer-readable storage medium can also be used to temporarily store various types of data that have been output or will be output.
[0068] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the methods described in the above embodiments.
[0069] Obviously, those skilled in the art should understand that the modules or steps of the embodiments of this application described above can be implemented using general-purpose computer devices. They can be centralized on a single computer device or distributed across a network of multiple computer devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computer device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of this application are not limited to any particular combination of hardware and software.
[0070] It should be noted that the above are merely preferred embodiments of this application and do not limit the scope of patent protection of this application. Any equivalent structural or procedural changes made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.
Claims
1. A control method for a wheeled-legged robot, the wheeled-legged robot comprising a leg unit composed of a thigh and a lower leg, characterized in that, The control method includes: Obtain the initialization instruction; In response to the initialization command, the angle between the thigh and the calf is adjusted to a first target angle, whereby the robot's center of gravity falls within a supporting polygon, which is formed by connecting multiple supporting nodes of the leg unit.
2. The control method according to claim 1, characterized in that, Also includes: Obtain movement commands and current data, including the robot's movement speed, current terrain, and the robot's current posture; In response to the movement command, and based on the current data, a second target angle between the thigh and the lower leg is determined; Drive the thigh and / or the lower leg to rotate, so that the angle between the thigh and the lower leg is adjusted to the second target angle.
3. The control method according to claim 2, characterized in that, The difference between the second target angle and the first target angle is less than a first threshold; the first threshold is determined based on the maximum restricted distance from the robot's center of gravity to the supporting polygon.
4. The control method according to any one of claims 2 to 3, characterized in that, The leg unit further includes wheeled feet, responding to the movement command and determining a second target angle between the thigh and the lower leg based on the current data, including: In response to the movement command, and based on the current data, determine the target position of the wheel foot; Based on the target position of the wheel foot, determine the second target angle between the thigh and the calf of the leg unit where the wheel foot is located.
5. The control method according to claim 3, characterized in that, Also includes: Obtain information about posture imbalance; Based on the posture imbalance information, determine whether the robot needs to be initialized; If the determination result is yes, the initialization command is issued.
6. The control method according to claim 5, characterized in that, Also includes: If the judgment result is negative, adjust the third target angle between the thigh and the calf. The third target angle is the angle whose difference from the first target angle is less than the first threshold.
7. The control method according to claim 1, characterized in that, Also includes: Obtain the structural parameters of the robot; the structural parameters include the thigh length and the lower leg length; The first target angle is determined based on the structural parameters.
8. A control device for a wheeled robot, used to control the wheeled robot, the wheeled robot comprising a leg unit composed of a thigh and a lower leg, characterized in that, The control device includes: An initialization module is used to obtain initialization instructions; The drive module is used to respond to the initialization command and adjust the angle between the thigh and the lower leg to a first target angle, wherein the center of gravity of the robot falls within the support polygon, and the support polygon is formed by connecting multiple support nodes of the leg unit.
9. A wheeled robot, characterized in that, include: At least one processor; and A memory communicatively connected to the at least one processor; wherein: The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 7.