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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12554268-B2, on 17 February 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002830

Robot control method and apparatus, robot, computer-readable storage medium, and computer program product

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
ZHANG JINGFAN
Assignee
TENCENT TECH SHENZHEN CO LTD
Original source
US-12554268-B2, the United States Patent and Trademark Office, 17 February 2026
Document SHA-256
ef9a47ab6e922bf191288ad98601fea3058e3055b8272b8f3c31f8c6a673959b

Abstract

A control method, executed by a control device, controlling a robot comprising a wheel leg portion and a base portion, the wheel leg portion and the base portion comprising a plurality of joints, the method including obtaining motion information of the robot and motion information of a sphere placed on the base portion of the robot, determining, based on the motion information of the robot and the motion information of the sphere when passivity based control is performed on the sphere and the base portion, base control information for controlling the base portion and balancing the sphere on the base portion, determining, based on the base control information, a control torque for controlling each joint of the plurality of joints, and controlling each joint based on the corresponding control torque.

Publication information

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Citation

OpenTechnical Publication OT-2026-000002830, “Robot control method and apparatus, robot, computer-readable storage medium, and computer program product,” published September 15, 2026 at 19:15:38 UTC, https://opentechnical.org/p/OT-2026-000002830.

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