The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 06, 2025
Filed:
Nov. 21, 2022
Tencent Technology (Shenzhen) Company Limited, Guangdong, CN;
Shuai Wang, Shenzhen, CN;
Haitao Wang, Shenzhen, CN;
Xinyang Jiang, Shenzhen, CN;
Jiafeng Xu, Shenzhen, CN;
Dongsheng Zhang, Shenzhen, CN;
Ke Chen, Shenzhen, CN;
Jingfan Zhang, Shenzhen, CN;
Jie Lai, Shenzhen, CN;
Yu Zheng, Shenzhen, CN;
TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen, CN;
Abstract
A method includes: obtaining current motion state data of the wheel-legged robot, the current motion state data representing motion features of the wheel-legged robot, inputting the current motion state data into a nonlinear controller to obtain a target joint angular acceleration reference value of a target robot joint of the wheel-legged robot, and inputting the target joint angular acceleration reference value into a whole-body dynamics controller to output a joint torque for controlling the wheel-legged robot to perform a control task.