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.

A robot control method includes calculating an optimal feedback gain, an optimal variable matrix, and uncertainty according to a first state variable and a first feedback gain of a robot. The optimal variable matrix represents a degree of a gain that a motion state of the robot has on a control mode of the robot. The method further includes calculating an angle deviation matrix and a noise deviation matrix according to the optimal feedback gain, the optimal variable matrix, the uncertainty, and a second state variable of the robot, obtaining a control torque of the robot according to the second state variable, the optimal feedback gain, the angle deviation matrix, and the noise deviation matrix, and controlling the robot according to the control torque.

A robot includes: a main body on which a person is carried; a handle to be gripped by the person on the main body; a moving device configured to move the main body; an operation terminal attachable to and detachable from the robot and configured to receive an input of a command related to an operation of the robot; and a control device configured to control the robot in accordance with the command received from the operation terminal. In a state where the operation terminal is attached to the robot, the operation terminal is disposed at a position where the operation terminal is operated while the handle is gripped by the person.

A robot control method, and a computer-readable storage medium and a wheel-legged biped robot using the same are provided. The method includes: determining a kinetic model of the wheel-legged biped robot; determining, using the kinetic model, a sliding surface of the wheel-legged biped robot; determining, according to the sliding surface, a double power reaching law and a sliding mode control law of the wheel-legged biped robot; and controlling, according to the sliding surface, the double power reaching law and the sliding mode control law, the wheel-legged biped robot. Through the above-mentioned method, the adaptability of the wheel-legged biped robot to uncertain external disturbances can be enhanced, thereby improving its robustness to effectively maintain its balance even in the environment with complex terrain.

A human-powered vehicle control device includes a processor configured to read information from a memory and execute processing. The processor is further configured to execute processing of acquiring input information related to traveling of a human-powered vehicle, performing automatic control on a controlled device provided to the human-powered vehicle by control data of the controlled device, the control data being decided based on the input information acquired, changing, based on the input information, a parameter related to automatic control of the controlled device through learning an intervening operation performed on the automatic control by a rider, and resetting the parameter related to the automatic control, which is changed through learning, to predetermined data in a case where a predetermined condition is satisfied.

A robot includes a body, a pair of wheels rotatably provided at a lower part of the body, a cargo box provided at an upper part of the body, an inertial measurement sensor configured to measure a tilt angle of the body, a pair of wheel encoders configured to measure a rotational angle of each of the pair of wheels, a cargo box encoder configured to measure a tilt angle of the cargo box, a pair of wheel motors configured to transmit a torque to each of the pair of wheels, a cargo box motor configured to transmit a torque to the cargo box, and a controller. The controller is configured to control the pair of wheel motors and the cargo box motor to allow the robot to make a double axis inverted pendulum motion on an axis of each of the pair of wheels and the cargo box.

A moving object control system includes a storage device configured to store instructions; and one or more processors, wherein the one or more processors executes the instructions stored in the storage device to determine a stop position of a moving object in a sidewalk region near a specific location in a case where a degree of congestion of a sidewalk near the specific location is less than a threshold value, and determines the stop position in a region that does not belong to the sidewalk region near the specific location in a case where the degree of congestion of the sidewalk near the specific location is equal to or more than the threshold value.

A method for monitoring a remotely controllable member includes: transmitting a data signal between a movable object and a fixed point, the data signal being transmitted by an electromagnetic radiation source to a receiver of the electromagnetic radiation by modulation of the electromagnetic radiation, the source and the receiver being coupled respectively to the fixed point and to the movable object or vice versa; providing a masking device configured to limit a field of emission and/or reception of the signal to an area including the fixed point and defined by the masking device; defining by the processing unit a command executable by the remotely controllable member, according to data extracted from the signal, the position of the transmission area, and/or the orientation of the movable object; transmitting the command to the remotely controllable member for execution.

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.

A method for configuring a controller for a wheel-legged robot includes: controlling motion of the robot, and obtaining motion state data and control data of the robot during a motion process, where diversity measures of the motion state data and the control data are higher than a predetermined threshold; calculating a linear equilibrium parameter matrix by using a data iteration method according to the motion state data and the control data; and configuring a controller corresponding to dynamic characteristics of the robot based on the linear equilibrium parameter matrix.