Abstract: A method for controlling a robot to perform a somersault motion enables the robot, when facing an obstacle such as a hole, ditch, or ravine, to cross the obstacle by performing a somersault motion. The robot includes a wheel-leg portion and a base portion connected via a joint. The robot receives a motion instruction and controls a torque of the joint to allow the robot to perform the somersault. During a takeoff phase of the somersault, a center of mass of the wheel-leg portion is lower than a center of mass of the base portion. During a flight phase, the center of mass of the wheel-leg portion is higher than the center of mass of the base portion at some point in time. During the landing phase, the center of mass of the wheel-leg portion is lower than the base portion. This can enable the robot to avoid obstacles.

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.