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公开(公告)号：EP4144487A1
公开(公告)日：2023-03-08
申请号：EP21884924.8
申请日：2021-10-12
发明人： ZHENG, Yu , JIANG, Xinyang , CHI, Wanchao , LING, Yonggen , ZHANG, Shenghao , ZHANG, Zhengyou
IPC分类号： B25J9/16 , B62D57/032 , G05B19/19 , G05D1/08
摘要： A legged robot (110) motion control method and apparatus (800), a device (120), a medium and a program. The legged robot (110) motion control method comprises: determining, according to state data of the legged robot (110) at a start moment in a preset cycle, a candidate landing point (430) of each foot (420) in the preset cycle (S501); determining, according to the state data at the start moment and the candidate landing point (430) of each foot (420), a first relationship between a centre-of-mass position change parameter, the candidate landing point (430) and a first foot contact force (S502); determining, subject to a set of constraints, a target centre-of-mass position change parameter, a target stepping sequence and target landing points which satisfy the first relationship (S503), wherein the set of constraints comprises constraints for constraining the stepping sequence; and controlling the legged robot (110) to move in the preset cycle according to the target centre-of-mass position change parameter, the target stepping sequence and the target landing points (S504).
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公开(公告)号：EP4106177A1
公开(公告)日：2022-12-21
申请号：EP21825198.1
申请日：2021-06-17
发明人： DAI, Yuan , WANG, Jiahua , LAI, Jie , ZHANG, Zhengyou
IPC分类号： H02N1/04
摘要： A friction power generation device based on a friction brake, comprising a first friction assembly (103) and a second friction assembly (104) which are oppositely arranged, a friction braking force and charge being generated when the first friction assembly generates contact friction with respect to the second friction assembly; a first induction electrode (503) and a second induction electrode (504) arranged in the first friction assembly, when the first friction assembly generates contact friction with respect to the second friction assembly, first induction charge being generated on the first induction electrode, and second induction charge opposite to the first induction charge being generated on the second induction electrode; and a charge acquisition circuit (204), separately connected to the first induction charge and the second induction charge, and storing the charge acquired from the first induction electrode and the second induction electrode. The friction power generation device is simple in structure, high in reliability, stable in circuit, and high in capacity recovery efficiency. Also disclosed is a friction brake.
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公开(公告)号：EP4029578A1
公开(公告)日：2022-07-20
申请号：EP21793220.1
申请日：2021-03-15
发明人： LI, Xiong , ZHENG, Yu , JIANG, Ruoxuan , JIANG, Xinyang , ZHANG, Zhengyou
IPC分类号： A63F13/218 , A63F13/24 , A63F13/42
摘要： Embodiments of this application provide a slip simulation apparatus, a controlled robot, a game handle, a virtual game console, and a control system. The slip simulation apparatus includes a base; at least one motor arranged on the base; a slip simulation controller, configured to: receive slip data, and generate a rotating speed control signal used for controlling the at least one motor; and at least one synchronous wheel, at least one synchronous belt, and at least one limit apparatus associated with the motor, the synchronous wheel being sleeved on the synchronous belt and the limit apparatus, the motor being drivingly connected to the at least one synchronous wheel to drive, according to the rotating speed control signal, the at least one synchronous wheel and the at least one synchronous belt to rotate.
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4.发明公开
公开(公告)号：EP3985616A1
公开(公告)日：2022-04-20
申请号：EP20827866.3
申请日：2020-06-10
发明人： ZHENG, Yu , ZHANG, Zhengyou
IPC分类号： G06T17/10
摘要： A multi-layer bounding box determination method, and collision detection and motion control methods and devices. The method for determining a multi-layer bounding box of an object comprises: determining a polyhedron capable of accommodating the object therein, and taking same as a first-layer bounding box (S101); selecting one of a plurality of vertexes of the first-layer bounding box, and taking same as a target vertex (S 102); determining the object's support plane which takes a specific direction corresponding to the target vertex as a normal vector, and is closest to the target vertex (S103), the support plane being a plane which passes through a point on the surface of the object and enables the object to be completely located at one side of the support plane; and at least using the support plane to cut the first-layer bounding box, so as to form a smaller bounding box, and taking same as a second-layer bounding box (S104).
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公开(公告)号：EP3971684A1
公开(公告)日：2022-03-23
申请号：EP20804776.1
申请日：2020-04-20
发明人： ZHENG, Yu , XU, Zhongjin , ZHANG, Zhengyou
IPC分类号： G06F3/01
摘要： A vision-based tactile measurement method; the method is executed by a chip, and the chip is connected to a tactile sensor; the tactile sensor comprises a sensing surface and an image sensing assembly, and the sensing surface is provided with a marking pattern; the method comprises: acquiring an image sequence collected by the image sensing assembly for the sensing surface, images in the image sequence comprising marking patterns; according to the marking patterns within adjacent images in the image sequence, calculating a difference feature of the marking patterns; and calling a feedforward neural network to process the difference feature of the marking patterns to obtain a tactile measurement result.
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6.发明公开
公开(公告)号：EP4246271A1
公开(公告)日：2023-09-20
申请号：EP22738964.0
申请日：2022-01-10
发明人： WANG, Shuai , ZHANG, Jingfan , LAI, Jie , ZHANG, Dongsheng , CHEN, Ke , ZHENG, Yu , ZHANG, Zhengyou
IPC分类号： G05D1/02 , B62D57/028
摘要： This application relates to the field of robot control, and provides a motion state control method and apparatus, a device, and a readable storage medium. The method includes the following steps: Step 301: Acquire basic data and motion state data, the basic data being used for representing a structural feature of a wheeled robot, and the motion state data being used for representing a motion feature of the wheeled robot. Step 302: Determine a state matrix of the wheeled robot based on the basic data and the motion state data, the state matrix being related to an interference parameter of the wheeled robot, the interference parameter corresponding to a balance error of the wheeled robot. Step 303: Determine, based on the state matrix, a torque for controlling the wheeled robot. Step 304: Control, by using the torque, the wheeled robot to be in a standstill state.
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公开(公告)号：EP4030269A1
公开(公告)日：2022-07-20
申请号：EP21792895.1
申请日：2021-03-16
发明人： ZHANG, Dongsheng , WEI, Lei , CHEN, Ke , LI, Qiang , ZHANG, Zhengyou
IPC分类号： G06F3/01
摘要： Disclosed are a motion platform (10), a haptic feedback device, and a man-machine interaction system. The motion platform (10) comprises a first platform (100) and a second platform (200) connected by means of a link assembly (300), and the link assembly (300), wherein the second platform (200) is configured to move relative to the first platform (100); the first platform (100) comprises a first power output device (101) comprising a first output shaft (1011), and a second power output device (102) comprising a second output shaft (1021); the link assembly (300) comprises a first parallelogram link mechanism and a second parallelogram link mechanism, which are connected to each other, and a two-link mechanism; the first parallelogram link mechanism is fixedly connected to the first output shaft (1011), the second parallelogram link mechanism is fixedly connected to the second platform (200), and the first output shaft (1011) is configured to drive the first parallelogram link mechanism and the second parallelogram link mechanism to move in a planar motion; one end of the two-link mechanism is fixedly connected to the second output shaft (1021), and the other end thereof is hinged to the second platform (200); and the second output shaft (1021) is configured to drive the two-link mechanism to move.
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公开(公告)号：EP4116782A1
公开(公告)日：2023-01-11
申请号：EP21863539.9
申请日：2021-08-24
发明人： ZHENG, Yu , JIANG, Xinyang , CHI, Wanchao , ZHANG, Zhengyou
IPC分类号： G05B19/19
摘要： A legged robot movement control method, apparatus and device, and a medium, relating to the technical field of robots. The control method comprises: obtaining center of mass state data corresponding to a spatial path starting point and a spatial path end point of a movement path (S501); determining candidate footholds of foot ends in the movement path on the basis of the spatial path starting point and the spatial path end point (S502); determining, on the basis of the center of mass state data, a variation relationship between a center of mass position variation coefficient and a foot end contact force (S503); screening, under the constraint of a constraint condition set, a target center of mass position variation coefficient and a target foothold that satisfy the variation relationship (S504), wherein the constraint condition set comprises a spatial foothold constraint condition; determining a target movement control parameter according to the target center of mass position variation coefficient and the target foothold (S505); and controlling, on the basis of the target movement control parameter, the legged robot to move according to the movement path (S506).
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公开(公告)号：EP4105756A1
公开(公告)日：2022-12-21
申请号：EP21863334.5
申请日：2021-06-28
发明人： ZHENG, Yu , JIANG, Xinyang , CHI, Wanchao , ZHANG, Zhengyou
摘要： Provided are a method, apparatus and device for controlling the movement of a legged robot, and a medium, which relate to the technical field of robots. The method comprises: acquiring centroid state data respectively corresponding to a spatial path start point and a spatial path end point of a movement path; on the basis of the spatial path start point and the spatial path end point, determining a target landing point for each foot end in the movement path; on the basis of the centroid state data, determining a change relationship between a centroid position change coefficient and a foot end contact force; under the constraint of a constraint condition set, screening for a target centroid position change coefficient that meets the change relationship, wherein the constraint condition set comprises a spatial landing point constraint condition, and the spatial landing point constraint condition is used for constraining the value of the centroid position change coefficient, such that a legged robot can reach a determined target landing point; determining a target movement control parameter according to the target centroid position change coefficient and the target landing point of each foot end; and on the basis of the target movement control parameter, controlling the legged robot to move according to the movement path.
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10.发明公开
公开(公告)号：EP4043991A1
公开(公告)日：2022-08-17
申请号：EP21787912.1
申请日：2021-04-13
发明人： ZHENG, Yu , JIANG, Xinyang , CHI, Wanchao , LING, Yonggen , ZHANG, Shenghao , ZHANG, Zhengyou
IPC分类号： G05D1/08
摘要： A method and device for determining a barycenter position, a legged robot (101), equipment, and a medium, related to the technical field of computers. The method comprises: creating first relation data, creating second relation data corresponding to at least one leg with which the legged robot (101) is configured, creating third relation data on the basis of the second relation data corresponding to at least one leg, determining the value of a first constant, C, when a target value, J, is at minimum (203), and acquiring the first relation data corresponding to the first constant, C, of which the value is determined (204). The employment of the method for determining the barycenter position obviates the need to detect the states of joints of the legged robot (101), determines the trajectory of the barycenter of the legged robot (101) via the second relation data corresponding to at least one leg of the legged robot (101), and allows the legged robot (101) to move according to the determined trajectory of the barycenter, thus ensuring the efficiency of movement of the legged robot (101). This is applicable in the legged robot (101) with any number of legs and is widely applicable.
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