公开(公告)号：US11642786B2

公开(公告)日：2023-05-09

申请号：US17138948

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/02 ,  B62D57/032 ,  B25J19/00 ,  B25J9/00

CPC classification number: B25J9/1664 ,  B25J9/1651 ,  B25J9/1653 ,  B25J9/0006 ,  B25J9/1607 ,  B25J19/0008 ,  B62D57/02 ,  B62D57/032 ,  G05B2219/39063 ,  G05D2201/0217

Abstract: A humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.

公开(公告)号：US20210197367A1

公开(公告)日：2021-07-01

申请号：US17133656

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/02

Abstract: The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.

公开(公告)号：US12286176B2

公开(公告)日：2025-04-29

申请号：US18113625

申请日：2023-02-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Mingguo Zhao ,  Youjun Xiong

IPC: B62D57/032 ,  B25J9/00 ,  B25J9/16

Abstract: A method for estimating a pose of a humanoid robot includes: processing obtained pose parameters of a waist of the humanoid robot and plantar motion parameters of the humanoid robot to obtain the measured pose parameters of a center point of the waist of the humanoid robot; calculating predicted pose parameters of the center point of the waist according to the obtained pose parameters of the waist; and fusing the measured pose parameters and the predicted pose parameters to obtain estimated pose parameters of the center point of the waist.

公开(公告)号：US20230234222A1

公开(公告)日：2023-07-27

申请号：US18129909

申请日：2023-04-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/163 ,  B25J9/1651 ,  B25J9/1607 ,  B25J9/0006

Abstract: A humanoid robot balance control method, a humanoid robot, and a storage medium are provided. The method includes: obtaining a task equation of each of a plurality of deconstructed tasks in a corresponding control cycle by solving a plurality of deconstructed task models using a relevant actual state and a corresponding expected state of the humanoid robot; calculating an optimal solution of a multi-task error optimization function based on each task equation; and generating a joint control instruction of the corresponding control cycle based on the optimal solution in response to the optimal solution being obtained within the corresponding control cycle so as to control corresponding joint(s) to execute the tasks. In such manner, it can ensure that the robot satisfies the necessary constraints while executing multiple tasks, and also comprehensively considers the errors of all the tasks to ensure the execution of all the tasks.

公开(公告)号：US12134194B2

公开(公告)日：2024-11-05

申请号：US17710949

申请日：2022-03-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/032

Abstract: A robot balance control method, a controller, and a computer readable storage medium are provided. The method includes: obtaining a desired motion trajectory matching a current motion status by performing a parameter adaptation adjustment on a current planned motion trajectory; determining, according to the motion status, a desired state parameter of each of soles, a centroid, and a waist of a humanoid robot for conforming to the desired motion trajectory; calculating, based on the motion status and the desired state parameter of each of the soles, the centroid, and the waist of the humanoid robot, a desired driving parameter of the humanoid robot for simultaneously meeting a robot dynamics requirement, a sole control requirement, a centroid control requirement, a waist control requirement, and force control parameter distribution constraint(s) at the current moment; and controlling, based on the desired driving parameter, a movement of the humanoid robot.

公开(公告)号：US11472024B2

公开(公告)日：2022-10-18

申请号：US17133656

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/02

Abstract: The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.