Abstract: This disclosure is related to a robot motion control method and apparatus. The method includes: obtaining a center-of-mass reference trajectory used for guiding the robot to execute a target motion; obtaining, based on optimization of an objective function, center-of-mass control information for controlling the robot to follow the center-of-mass reference trajectory to move; generating joint control information according to the center-of-mass control information and a structure matrix of the robot; and controlling the robot to execute the target motion based on the joint control information.

Abstract: A robot comprises a wheel-footed bimodal mechanical leg having a driving apparatus, a thigh unit, and a calf unit. A joint end of the thigh unit is hingedly connected to a joint end of the calf unit by a rotary shaft. The driving apparatus is connected to the rotary shaft by a transmission apparatus. The calf unit comprise a locking mechanism. The robot can operate in a footed mode and a wheeled mode. In the footed mode, the calf units and the rotary shafts in n mechanical legs are fixedly connected to each other, where n is an integer that is at least two. In the wheeled mode, the calf units and the rotary shafts in at least two wheel-footed bimodal mechanical legs are rotatably connected to each other.