2837 results about "Whole body" patented technology

A multi-function exercise apparatus for conducting an exercise regimen with a single exercise apparatus is disclosed. The apparatus may be readily reoriented via a selectively extensible caster and wheels to face a desired direction for performance of an exercise. The multi-function exercise apparatus may be provisioned with storage locations to maintain weights and other accessories with the apparatus, to equip the multi-function exercise with the necessary weights and accessories for performing a full body exercise regimen. An articulating frame assembly permits a cushion assembly to be raised in either of a partial tilting configuration and a full tilting configuration. In the partial tilting configuration, a seated exercise apparatus is provided. In the full tilting configuration, a full cushioned surface of the apparatus may be tilted to a desired vertical orientation for performance of other exercises with the apparatus.

The invention discloses a humanoid robot whole-body coordination control method based on a mass center dynamical model. The method comprises the steps that system modeling is conducted on a humanoid robot according to the mass center dynamical model; establishing a relationship between arm momentum and centroid momentum based on whole-body kinematics and a momentum conservation principle; a whole nonlinear optimization control problem is constructed and solved in real time, and a controller predicts the motion trail of the robot in a future period of time; feedforward torque is obtained through inverse dynamics calculation, and joint torque is issued in combination with a joint PD controller. The invention designs a nonlinear model predictive control problem for whole-body coordination control of the humanoid robot, reasonably plans a system state, an arm tail end state, a foot end state and a reference trajectory of control input, and designs equality constraints and inequality constraints necessary for whole-body coordination movement of the robot; task trajectory constraint and momentum conservation constraint on the tail end of the arm are added, so that the ability of the arm to assist in motion balance is more prominent.

A legged robot planning and control method and apparatus, a robot, and a storage medium. The method comprises: according to the motion state of a legged robot and swing parameters of each leg at the next moment, determining a foot-end reference state of each leg; for a leg to swing at the next moment, according to a foot-end dynamics model and a discrete collision model, planning a swing-leg trajectory having collision awareness; and, according to the motion state, a reference state sequence and the foot-end reference states, controlling the whole body of the legged robot, wherein for a leg which should be a planned supporting leg but is not in contact with the ground, whole-body control having collision awareness is performed according to a whole-body dynamics model and the discrete collision model. Thus, the problems are solved that legged robots in the prior art are limited in passive flexible buffering in collision, involves a large amount of control algorithm calculation and relatively low control precision, exhibit a relatively high degree of hardware wear and relatively short service lives, and cannot meet actual needs.

The invention provides an optimization method for whole-body motion planning of a mobile manipulator, and relates to the technical field of motion planning of the manipulator, and the method comprises the steps: determining environment features and a position gradient when a joint of the mobile manipulator changes based on a depth image shot by the mobile manipulator; performing strategy planning on the motion state and the motion action of the mobile mechanical arm through an actor-commentator network subjected to reinforcement learning training to obtain an expected speed of an end effector in the mobile mechanical arm; position constraint conditions used for obstacle avoidance of the movable mechanical arm are constructed based on the position gradient, and joint constraint parameters used for constraining the decision variables are constructed; and optimizing the decision variable based on a quadratic programming solver determined by the position constraint condition and the joint constraint parameter to obtain a planning result of the joint speed. According to the method and the device, the problem of limitation in the aspects of planning task completion, environment perception, constraint expression, obstacle avoidance and motion coordination during motion planning of the mobile mechanical arm is solved.

The invention discloses a walking method of a biped robot in a complex terrain, which belongs to the technical field of robot walking and comprises the following steps: step 1, establishing a preliminary kinetic model of walking of the biped robot, and optimizing to obtain an improved kinetic model; 2, generating a reference state track of the biped robot according to the input information; step 3, optimizing the reference trajectory; 4, further optimizing and distributing the contact force, calculating the joint torque of the walking of the biped robot, and sending the joint torque to each joint motor; 5, the position, speed and posture of the biped robot are estimated in real time according to the data and fed back to a track planning and whole body control module, and planning and control of the next period are carried out; and 6, the steps 2-5 are continuously repeated, so that the biped robot can walk under the complex terrain. The adaptability and the energy efficiency of the robot under the complex terrain can be improved.

The invention provides a horizontally-arranged disc tool magazine, and relates to the technical field of horizontally-arranged disc tool magazines, the horizontally-arranged disc tool magazine comprises a horizontally-arranged disc tool magazine whole body, a disc tool bin is installed on the left side face of the horizontally-arranged disc tool magazine whole body, and the top of the disc tool bin extends to the right side face to be provided with a tool pushing mechanism; a cutter changing rotating mechanism is installed at the bottom of the right side face of the cutter pushing mechanism, the disc cutter bin comprises a horizontally-arranged cutter disc, the periphery of the horizontally-arranged cutter disc is fixedly connected with a cutter claw base assembly in a circular shape, the center of the horizontally-arranged cutter disc is fixedly connected with a switching disc, and a deep groove ball bearing is installed at the position, located on the inner side of the horizontally-arranged cutter disc, of the bottom of the switching disc. The inner side of the deep groove ball bearing extends to the bottom to be provided with an intermediate shaft, and a connecting plate is installed on the periphery of the intermediate shaft and located at the bottom of the horizontally-arranged cutter head. Through the design, the cost of the disc tool magazine can be reduced, the tool changing speed of the disc tool magazine can be increased, meanwhile, the installation process of the disc tool magazine can be simplified, and the convenience of installation work can be improved.

The embodiment of the invention provides a dexterous hand control method and device, an intelligent agent and a storage medium, and the method comprises the steps: obtaining sensor data, preprocessing the sensor data, obtaining input information which comprises environment information and state information of a dexterous hand, inputting the input information into a cerebellum model, and obtaining a corresponding control instruction, the cerebellum model comprises a trajectory planning model and a motion controller, the trajectory planning model is used for outputting a corresponding trajectory planning result according to the input information, and the motion controller is used for converting the trajectory planning result into a corresponding control instruction; the motion controller is obtained by combining a cerebellum model neural network and a whole body dynamic model based on a model predictive control algorithm, and performs driving control on an execution mechanism module of the dexterous hand according to a control instruction. According to the dexterous hand control method provided by the embodiment of the invention, the control flexibility and accuracy can be improved.

The invention belongs to the field of robot motion control, and discloses an online generation and control method and system for whole-body coordinated walking motion of a humanoid robot, a computer readable storage medium and a computer program product. According to the method, in walking motion generation, a whole-body walking motion track including upper body joint motion information is generated in real time by adopting a whole-body kinematics-centroid dynamics model; a model predictive control model is adopted to realize organic combination of motion trail generation and real-time tracking control; and solving the model prediction control model, and taking the optimal state x * and the corresponding control input u * as the input of whole body control. According to the method, in the planning stage, namely the whole-body walking motion trail including upper body joint motion information, the whole-body dynamic characteristics of the arms, the waist and the like are comprehensively considered, and a new method of long-time-domain trajectory optimization and online control is combined, so that real whole-body coordinated walking is fundamentally realized.

The invention discloses a humanoid robot step terrain walking method based on a whole-body kinetic model, and the method comprises the steps: designing a nonlinear model prediction control problem oriented to the walking of a humanoid robot, and reasonably planning a system state, input and a reference track of a foot end; equality constraints and inequality constraints which are necessary for walking of the robot are designed, and the constraint that a landing point of the robot needs to fall in a landing area is taken as one of the inequality constraints, so that the humanoid robot is capable of walking on a step terrain; and finally, solving a nonlinear model predictive control problem in real time by utilizing a solver, and issuing a robot joint torque according to an inverse kinetic equation of the whole-body kinetic model and PD in combination with a feedforward controller, so that the robot is better in control effect and more stable in walking.

The multifunctional full-automatic human body bathing machine comprises a bathing machine main body and a bathing machine auxiliary body, a waterproof elastic film flexible inner wall is arranged in an inner cavity of the bathing machine main body, cleaning modules are arranged on the back face of the waterproof elastic film flexible inner wall, and a plurality of cleaning modules form a cleaning module array; an impeller power water pipe and a spraying water pipe are arranged on the cleaning module array, the spraying water pipe is connected with a spraying water pipe shaft, a spraying water pipe spray head is arranged on the cleaning module array, the spraying water pipe spray head penetrates through the flexible inner wall of the waterproof elastic film, and a cleaning machine inner cavity is formed in the center of the bathing machine body; a neck cleaning module and a foot cleaning module are arranged in an inner cavity of the cleaning agent machine. The multifunctional bathing device can integrate bathing, bathing, scrubbing and massaging, not only can achieve the purpose of quickly cleaning the whole body, but also has the functions of bathing and massaging, achieves the functions of saving time, labor, water and electricity, quietly cleans the whole body to obtain relaxed and pleasant feelings, and is suitable for being widely popularized and used.

The invention provides a whole-body control method and device of a robot, a storage medium and the robot, and belongs to the technical field of humanoid robot control. The method comprises the following steps: training a basic whole body control model by using an AMASS data set; training a sub-control model corresponding to each motion type on the basis of the basic whole body control model by using the plurality of clustering sub-data sets; after the trained sub-control model is deployed to a control module of the robot, an execution track sequence of the robot is collected by controlling the robot to move; utilizing the collected execution track sequence to train an action increment model corresponding to the sub-control model so as to adjust the corresponding sub-control model; and fusing the adjusted sub-control models by using a knowledge distillation technology to obtain an optimized whole-body control model. According to the embodiment of the invention, a'general-expert-general 'training framework is provided and is used for learning a general whole-body control strategy, and the problem of interference among different motion types is effectively relieved.

The invention provides a centroid estimation and compensation method and system for a variable-configuration quadruped robot with an arm, and relates to the technical field of quadruped robot motion planning, and the method comprises the steps: obtaining the state feedback information of the variable-configuration quadruped robot in the motion process; on the basis of the state feedback information, foot end contact force of the supporting legs is calculated through a whole-body dynamic model of the variable-configuration quadruped robot and a disturbance force observer based on generalized momentum; according to the foot end contact force of the supporting leg, adopting a centroid estimation algorithm of an online recursive strategy to estimate a centroid deviation value after unknown disturbance; according to the estimated centroid deviation value, a motion trail planner and a centroid dynamical model are adjusted, centroid deviation compensation is conducted through a whole body controller of the null space based on the adjusted result, the optimal joint torque is obtained, and real-time servo control is conducted; according to the invention, stable control of the quadruped robot under disturbance of internal force or external force such as double-arm movement, leg configuration change and unknown load is realized.

The invention belongs to the related technical field of mobile robots, and discloses a rolling-walking composite motion control method and device for a double-wheel-foot robot, and the method comprises the steps: (1) simplifying the rolling motion of wheels of the double-wheel-foot robot into the sliding motion of a sliding block; (2) constructing a system kinetic equation of the double-wheel-foot robot based on the simplified kinetic model; constructing a constraint equation based on the contact state of the two legs and the ground; discretizing the system kinetic equation, the cost function and the constraint equation, and converting model prediction control problems corresponding to the system kinetic equation, the cost function and the constraint equation into nonlinear problems for numerical solution so as to complete leg motion planning; (3) calculating the rotation speed of the wheel based on the leg motion planning result; and (4) based on the rotation speed of the wheels and the leg motion planning result, a whole-body control algorithm is adopted to calculate and obtain moment instructions of leg joints and the wheels. According to the invention, the state space dimension is reduced, and the wheel-ground contact constraint is simplified.

The invention discloses a wheel-foot robot, and relates to the technical field of robots, the wheel-foot robot comprises a head and neck assembly, a trunk assembly, two groups of upper limb assemblies, two groups of lower limb assemblies and two groups of wheel-foot moving bases, the wheel-foot robot is provided with stereoscopic vision, can sense the environment and recognize human beings, and two hands cooperatively execute operation tasks; precise torque sensors in the arm joints facilitate safe and sensitive interaction when physically cooperating with humans. The trunk is telescopic, and the working height can be increased. The whole robot has more than twenty degrees of freedom, has the movement functions of fast movement, agile obstacle avoidance, steady uphill and downhill, impact interference resistance and the like, is an ideal carrier for general artificial intelligence, and when the robot works in place, the jacking mechanism at the bottom of the wheel foot base can support the robot body, so that the robot can bear high-load or high-dynamic operation. The robot can be switched among a plurality of modes which are not limited to standing, squatting, moving and the like, and is suitable for a plurality of application scenes.

The invention belongs to the technical field of robot control, and particularly relates to a self-adaptive whole-body control method suitable for a quadruped robot in an uncertain dynamic environment, and the method integrates an extended state observer (ESO), a model prediction controller (MPC) and a whole-body controller (WBC) based on hierarchical optimization. And a closed-loop control architecture is constructed to improve the robustness and motion coordination ability of the quadruped robot in a complex environment. Firstly, external disturbance is estimated and compensated in real time through ESO; then, the MPC optimizes future system behaviors in a rolling manner under the condition of considering interference terms, and an expected foot end counter-acting force is output; and finally, the WBC is combined with the priorities of the multiple tasks to generate all joint control instructions in a constraint optimization form, and task collaboration and dynamic adaptation are achieved. The method has the advantages of being high in disturbance self-adaptive capacity, high in control precision, suitable for a multi-task environment and the like, and is particularly suitable for quadruped robot control tasks in complex dynamic scenes such as transportation and search and rescue.

The invention relates to the technical field of robots, in particular to a robot track determining method and device, a robot, a medium and a program product, the robot comprises a robot body, robot feet and a mechanical arm, and the robot feet and the mechanical arm form motion branch chains with the robot body respectively; the method comprises the steps that a state variable, a control variable and state information of the tail ends of all motion branch chains and a target object in the process that a robot is expected to complete a target task are obtained, and the state information is used for representing whether the tail ends of the motion branch chains make contact with the target object or not; constructing an evaluation model according to the state variable, the control variable and the state information; according to the evaluation model, a reference track meeting preset constraints is determined, the reference track is used for controlling the robot to complete the target task, the current situation of leg-arm separation control is broken through, and therefore the whole-body coordination of the robot is improved when the robot is controlled to complete the target task according to the reference track.

The invention discloses a novel modularized whole-body carrying system which comprises a trunk module and a lower limb module, the trunk module is used for supporting a trunk and comprises a plurality of rigid elements and elastic elements which are connected with one another, and the lower limb module is connected with the trunk module and comprises a plurality of rigid elements which are connected with one another and elastic elements with trend directions. The lower limbs are supported. According to the novel modularized whole-body carrying system, adaptive design is carried out on the multiple modules according to all characteristics in human body movement, modularized design is adopted, and rapid disassembly, installation and replacement can be achieved; the combination and matching can be realized as required to realize force transmission and load reduction, and the upper body can adapt to different movement actions, so that different tasks can be completed by combining and matching different accessories according to different carrying requirements, the structure is simple, external energy and control are not needed, and the device can adapt to complex and severe environments. And the energy storage structure is used for assisting the whole machine structure in force transmission and component, so that the assisting effect and stability are improved.

Methods and systems are disclosed for performing operations for transferring garments in a video from one real-world object to another in real time. The operations comprise receiving a first video that includes a depiction of a first person wearing a first garment in a first pose and obtaining a second video that includes a depiction of a second person wearing a second garment in a second pose. The operations comprise modifying a pose of the second person to match the first pose of the first person depicted in the first video. The operations comprise generating a whole-body segmentation of the second garment which the second person is wearing in the second video and changing an appearance of the first person from wearing the first garment to wearing the second garment based on the whole-body segmentation of the second garment which the second person is wearing in the second video.

Belongs to the technical field of motion control of foot-type robots, and particularly relates to an anti-interference whole-body control method and system for a quadruped robot based on stability margin perception. The expected joint position, speed and foot end contact force are obtained through nonlinear model predictive control NMPC; a whole body controller WBC based on hierarchical quadratic programming calculates a joint driving torque according to the task priority; according to the joint position, the speed and the torque fed back by the driver and a robot dynamic model, estimating the foot end contact force; calculating resultant force which causes instability of the robot relative to each support polygon side line of the robot; projecting the resultant force, and calculating an included angle between the projection force and the vertical direction; calculating a compensation acceleration through a PI controller; and the compensation acceleration is used as a part of a fuselage linear acceleration task in the WBC, so that the anti-interference capability of the robot is improved. The method is used for solving the problems that in the prior art, the stable state of the quadruped robot cannot be effectively sensed, and an anti-interference control strategy cannot be rapidly generated according to the stable state.

The embodiment of the invention provides a dexterous hand control method and device, an intelligent agent and a storage medium, and the method comprises the steps: obtaining sensor data, preprocessing the sensor data, obtaining input information which comprises environment information and state information of a dexterous hand, inputting the input information into a cerebellum model, and obtaining a corresponding control instruction, the cerebellum model comprises a trajectory planning model and a motion controller, the trajectory planning model is used for outputting a corresponding trajectory planning result according to the input information, and the motion controller is used for converting the trajectory planning result into a corresponding control instruction; the motion controller is obtained by combining a cerebellum model neural network and a whole body dynamic model based on a model predictive control algorithm, and performs driving control on an execution mechanism module of the dexterous hand according to a control instruction. According to the dexterous hand control method provided by the embodiment of the invention, the control flexibility and accuracy can be improved.

The invention discloses a real-time whole-body remote operation control system for a humanoid robot, and the system comprises a motion instruction generation subsystem which is located at an operation end and is used for receiving and analyzing input instructions of various modes, and carrying out the unified conversion and complementation of the input instructions into a whole-body joint motion instruction which is suitable for a skeleton structure of a target humanoid robot; the body motion control subsystem is located at the robot end and used for receiving the whole-body motion instruction, adaptively generating a whole-body motion coordination control signal capable of ensuring the stability of the robot in combination with the state of the robot and environment information, and driving and executing the whole-body motion coordination control signal; through cooperation of the two subsystems, the system provides a dual guarantee path for realizing whole-body teleoperation: a complete whole-body instruction can be generated based on the instruction generation subsystem, and whole-body motion can be adaptively generated by the body motion control system according to a received local instruction; and the robustness, the flexibility and the reliability of the system under different conditions are ensured.

The invention discloses a wheel-legged robot whole-body motion control system and method considering slippage steering, and relates to the technical field of wheel-legged machine control. The system comprises an input module used for receiving an expected motion track or a motion instruction from an upper layer planning system; the trajectory optimization module takes the motion trajectory output by the input module as a tracking target, so that the platform can be optimized in real time along an offline trajectory; the tracking control module is used for solving a joint torque through inverse dynamics by adopting a total rigid body dynamic model, realizing motion tracking through a whole body control WBC method, and solving a motion and contact force priority task by using a hierarchical optimization method; and the state estimation module is used for estimating all current state quantities of model predictive control MPC and information required by whole body control WBC through sensor information. By means of the system, high-dynamic stable motion control over the wheel-legged robot under the complex terrain can be achieved.

The invention relates to an upgraded and enhanced zero-gravity leisure sofa, comprising a zero-gravity upgrade mechanism, an electric component, a chair frame, a seat frame, an armrest, and a footrest. The zero-gravity upgrade mechanism used enables the leisure sofa to realize the chair frame lying down and the seat frame and the footrest tilting up under the drive of a first motor and a second motor, so that the gravity of the consumer's whole body is evenly distributed, so that the body is in a state of natural comfort and release of physical and mental pressure. The structure is novel and concise, conforming to the ergonomic design, and the footrest can be retracted to the bottom of the seat frame under the drive of the second motor to save space; the upper shelf of the armrest and the outer side of the armrest baffle can be made of an armrest soft bag, and the inner side of the armrest baffle can well hide the zero-gravity upgrade mechanism inside the armrest, which is both beautiful and practical.

The invention discloses a method and a system for predicting whole body actions by a sparse inertial measurement unit, and the method comprises the following steps: setting a plurality of nodes at a test target, and setting inertial measurement modules on the nodes; acquiring a node inertia action signal and recording a message sequence and a timestamp of the message; acquiring a node rotation attitude and a node acceleration in a geographic coordinate system; acquiring node rotation attitudes and node accelerations of a plurality of nodes under the SMPL coordinate system; calculating the positions of all leaf nodes relative to the root node; calculating the position of the whole body joint relative to the root node; calculating to obtain a rotating posture of the whole-body joint relative to the root node; and measuring the speed of the root node. According to the technical scheme provided by the invention, the non-deployed IMU joint action can be more accurately predicted, the high-speed action can be captured, the long-time coherent action restoration is realized, the real action and virtual action delay is shortened, the system provided by the invention is low in cost, and frequent action calibration is not needed.

The current invention provides a biocompatible energy recharge system to normalize body functions for a mammal. Both stationary and circulatory scalar wave energy was produced and utilized to enable the entire body of a mammal to increase the energy potential of any cell in the body, to promote cell growth, to facilitate cell repair, and to reduce cell destruction, hence the cells, organs, systems and the entire body of a mammal become healthy, and to treat a disease or disorder. The invention is a combination of the generators of the three-dimensional bio-waves in the stationary and in the circulationary formats for empowering the cells in all parts of a mammal, and a method of using the 3D bio-waves uniformly to empower each organ of a mammal to restore and maintain the normal body health and function.

The invention discloses a text-driven three-dimensional human body action generation method. Fine-grained human body action generation is realized through a diffusion model and a large language model. The method comprises the following steps: firstly, extracting multilayer semantic features of a text by using a text encoder, and identifying core and non-core body parts by using a large language model; then dividing a human body into five areas including a left arm, a right arm, a left leg, a right leg and a trunk, and fusing and refining word-level text features and action features of all parts through a multi-head cross attention mechanism; using a self-adaptive loss function to optimize the action of the core part, and keeping the non-core part natural and smooth; and finally, performing denoising through a diffusion model to generate whole-body motion. In addition, the method supports parameter editing and motion complementing functions, and can flexibly control the motion amplitude and complement the motion of sub-input. The method can be applied to the fields of virtual reality, animation production and man-machine interaction, and generated actions are natural and accurate and accord with text description.

The invention discloses a steel structure petal column bottom support and a mounting method, the device is formed by irregularly arranging a plurality of groups of supports in a ring shape, and each group of supports comprises two single supports; each single support comprises a bottom disc, a middle disc, a top sealing plate, a main body circular pipe, an inclined steel column and a pouring plate; the bottom disc is arranged at the bottom of the body circular pipe, the middle disc is arranged in the middle of the body circular pipe, the top sealing plate is arranged at the top of the body circular pipe and supports the inclined steel column, the pouring plate is arranged beside the top sealing plate, and the method is achieved based on the device. According to the method, the quality safety problems of deformation, collapse and the like of the petal-shaped whole body due to the fact that the support is unstable or the design is not in place under the action of the gravity of a steel structure are solved; the stability, the safety and the reliability of the spirally rising steel structure column are ensured; and the device is prevented from being corroded.

A balance control method and apparatus (1600) for a wheel-legged robot (200), a device, and a storage medium. The method is executed by a computer device (101). An n-order inverted pendulum model as which the wheel-legged robot (200) is equivalently represented comprises: wheels (1016), n connecting rods and n rotating joints; first connecting rods (1026, 1110) are equivalently derived from at least two leg mechanisms (1022, 1024) of the wheel-legged robot (200), and the wheels (1016) are equivalently derived from moving wheels (1012, 1014) respectively connected to the at least two leg mechanisms (1022, 1024). The method comprises: step 1310, acquiring an actual state quantity of the wheel-legged robot (200) at a first moment; step 1320, calculating an equivalent state quantity at the first moment on the basis of the actual state quantity at the first moment; step 1330, establishing a sliding mode surface on the basis of the equivalent state quantity at the first moment; step 1340, determining a force and torque instruction of the whole body joint on the basis of a dynamic equation of the sliding mode surface and the equivalent state quantity at the first moment; and step 1350, at a second moment, respectively controlling the n rotating joints on the basis of the force and torque instruction. The method is adapted to a wheel-legged robot (200) in movement, facilitating improvement of the robustness of balance control.

The invention discloses a lens holding arm control method based on interactive surgical instrument segmentation, and belongs to the technical field of surgical robot control. Comprising the following steps: carrying out interactive segmentation on the tip of a surgical instrument in a first-frame image of a video returned by an endoscope at the tail end of an endoscope holding arm; automatically acquiring a tip mask of a surgical instrument in a video subsequent frame image through a tracking network model, and calculating a center coordinate of the tip mask; calculating the center coordinate of the ROI region of the image and the error between the center coordinate and the expected position coordinate by combining the weight of the user-defined surgical instrument; a joint space angle control quantity is obtained through a multi-task whole-body controller with priorities to carry out motion control on a lens holding arm, and errors of high-level tasks and low-level tasks are converged to be zero along with time. According to the method, any type and number of surgical instruments can be quickly and stably tracked without an additional model training process. The endoscope holding arm automatically adjusts the pose of the endoscope according to the central position of the tip of the surgical instrument so as to optimize the surgical field, and the man-machine cooperation surgical operation efficiency is improved.

The invention discloses a six-degree-of-freedom wheel-foot robot control method, system and device and a storage medium, and relates to the technical field of robotics.The method comprises the steps that whole-body dynamics modeling is conducted on a wheel-foot robot, and a target motion equation of the wheel-foot robot is obtained; calculating a current task state of the wheel-foot robot, a Jacobian matrix and a ground normal vector at a wheel-foot contact point according to the sensor data; determining a target expected acceleration according to the current task state and the reference task state; constructing an optimization problem by using the Jacobian matrix, the ground normal vector and the target expected acceleration; solving the optimization problem under the constraint of the target motion equation to obtain a driving torque; and controlling the wheel-foot robot to move according to the driving torque. The optimization problem constructed by the method comprises the ground normal vector at the wheel-foot contact point, leg dynamics is considered when the wheel-foot robot is controlled, the determined driving torque can more stably drive the wheel-foot robot to pass through the uneven terrain, and the robustness and the passing capacity are improved.