Wheel-legged robot steering control method, device, equipment and storage medium

By acquiring environmental perception information and current state information, and using a target reinforcement learning network to select an appropriate steering mode, the problem of balancing efficiency and stability in the steering control of wheeled robots is solved. This enables efficient and stable steering in different terrains, improving the robot's maneuverability and environmental adaptability.

CN122151619APending Publication Date: 2026-06-05SHENZHEN XUANJI POWER TECHNOLOGY CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SHENZHEN XUANJI POWER TECHNOLOGY CO LTD
Filing Date
2026-01-20
Publication Date
2026-06-05

AI Technical Summary

Technical Problem

In existing wheeled robot steering control methods, the robot can only switch between two modes by relying on fixed preset rules, and cannot make flexible adjustments according to dynamic changes in the environment. This makes it difficult to balance efficiency and stability, thus limiting its ability to be applied in multiple scenarios.

Method used

By acquiring environmental perception information and the current state information of the wheeled robot, a target reinforcement learning network is used to determine the terrain complexity index. Based on the pattern interpolation control variable, wheeled differential steering, leg-lifting steering, or hybrid steering mode is selected to achieve intelligent switching of steering mode and ensure efficient and stable steering control under different terrains.

Benefits of technology

It realizes universal steering control for wheeled robots in various terrains, improves the robot's mobility and environmental adaptability, and balances high efficiency on flat terrain and stability on complex terrain, avoiding the problem of difficulty in balancing efficiency and stability in the traditional single steering mode.

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Abstract

The application discloses a wheel-legged robot steering control method, device, equipment and storage medium, relates to the technical field of robot control, and discloses a wheel-legged robot steering control method, which comprises the following steps: acquiring environment perception information and current state information of a wheel-legged robot; determining a terrain complexity index according to the environment perception information; inputting the terrain complexity index and the current state information into a target reinforcement learning network to obtain a mode interpolation control variable and steering control information; determining a target steering mode from a wheeled differential steering mode, a legged leg-lifting steering mode and a hybrid steering mode according to the mode interpolation control variable; and controlling the wheel-legged robot to steer in the target steering mode based on the steering control information. The scheme can overcome the problem that the efficiency and stability of a traditional single steering mode are difficult to balance, and improve the mobility and environmental adaptability of the wheel-legged robot.
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