公开(公告)号：US20210197384A1

公开(公告)日：2021-07-01

申请号：US16843921

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Miaochen Guo ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/04 ,  B25J9/06 ,  B25J9/00 ,  B25J13/08 ,  B25J19/04 ,  B25J9/12 ,  B25J17/02

Abstract: The present disclosure discloses a robot control method as well as an apparatus, and a robot using the same. The method includes: obtaining a human pose image; obtaining pixel information of key points in the human pose image; obtaining three-dimensional positional information of key points of a human arm according to the pixel information of the preset key points; obtaining a robotic arm kinematics model of a robot; obtaining an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model; and controlling an arm of the robot to perform a corresponding action according to the angle of each joint. The control method does not require a three-dimensional stereo camera to collect three-dimensional coordinates of a human body, which reduces the cost to a certain extent.

公开(公告)号：US11331806B2

公开(公告)日：2022-05-17

申请号：US16843921

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Miaochen Guo ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: G05B19/42 ,  B25J9/16 ,  B25J9/04 ,  B25J9/06 ,  B25J9/00 ,  B25J17/02 ,  B25J13/08 ,  B25J19/04 ,  B25J9/12

Abstract: The present disclosure discloses a robot control method as well as an apparatus, and a robot using the same. The method includes: obtaining a human pose image; obtaining pixel information of key points in the human pose image; obtaining three-dimensional positional information of key points of a human arm according to the pixel information of the preset key points; obtaining a robotic arm kinematics model of a robot; obtaining an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model; and controlling an arm of the robot to perform a corresponding action according to the angle of each joint. The control method does not require a three-dimensional stereo camera to collect three-dimensional coordinates of a human body, which reduces the cost to a certain extent.

公开(公告)号：US20210146538A1

公开(公告)日：2021-05-20

申请号：US16734393

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Zhaohui An ,  Zheng Xie ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.

公开(公告)号：US11331802B2

公开(公告)日：2022-05-17

申请号：US16734393

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Zhaohui An ,  Zheng Xie ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.

公开(公告)号：US11325247B2

公开(公告)日：2022-05-10

申请号：US16817576

申请日：2020-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Zhaohui An ,  Yizhang Liu ,  Meihui Zhang ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/06

Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.