OPENTECHNICAL PUBLICATION
OT-2026-000002830

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

Published: 2026-09-15T19:15:38.097890Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002830
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000002830
Published 2026-09-15T19:15:38.097890Z
https://opentechnical.org/p/OT-2026-000002830