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公开(公告)号：US20200206898A1
公开(公告)日：2020-07-02
申请号：US16572637
申请日：2019-09-17
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Ligang Ge , Yizhang Liu , Chunyu Chen , Zheng Xie , Jianxin Pang
Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.
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公开(公告)号：US20200184682A1
公开(公告)日：2020-06-11
申请号：US16548868
申请日：2019-08-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Wanli Zhang , Jianxin Pang
Abstract: The present disclosure relates to robot technology, which provides an object pose tracking method and apparatus. The method includes: obtaining an initial pose of the object, and determining a first viewing angle of an object with respect to a camera based on the initial pose; searching for a first 3D model corresponding to the first viewing angle; calculating a projected contour of an initial pose using the searched first 3D model, and obtaining feature point(s) of the projected contour; calculating a pose change amount based on the feature point(s) of the projected contour and feature point(s) of a real contour; and performing an iterative calculation on the pose change amount to obtain a pose correction amount, and obtaining a corrected pose of the object based on the pose correction amount. In the calculation process, the 3D model can be selected to improve the calculation speed by fewer feature points.
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公开(公告)号：US20180334029A1
公开(公告)日：2018-11-22
申请号：US15644808
申请日：2017-07-09
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Libing Zhou , Youpeng Li
CPC classification number: B60K17/24 , B60B19/003 , B60Y2304/07 , B62D61/06
Abstract: A driving device of a robot includes at least one driving assembly and a fixing assembly that are arranged outside a base of the robot. The at least one driving assembly includes a motor, an omnidirectional wheel, a connection shaft used to connect an output shaft of the motor to the omnidirectional wheel, and a connection assembly used to connect the connection shaft to the motor and the omnidirectional wheel. The motor, the connection shaft and the omnidirectional wheel are arranged along a radial direction of the base, and the fixing assembly is used to fix the motor to the base of the robot.
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公开(公告)号：US20180187757A1
公开(公告)日：2018-07-05
申请号：US15609026
申请日：2017-05-31
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Wenquan Shu , Wenhua Yu , Qi Zhao , Libing Zhou , Youpeng Li
CPC classification number: B25J17/00 , B25J19/0029
Abstract: A waist rotation structure includes a mounting disc defining a through hole, a rotatable disc located at a first side of the mounting disc, a driving device fixed to a second side of the mounting disc that is opposite the first side, and a transmission assembly. The rotatable disc defines a first cable insertion hole. The driving device includes an output shaft. The transmission assembly includes a drive gear connected to the output shaft, and a transmission cylinder extending through the through hole. The transmission cylinder includes a body that extends through the through hole, and is rotatably connected to the mounting disc and fixedly connected to the rotatable disc, and a driven gear arranged on a lateral surface of the body and engaged with the drive gear. The body defines a wiring hole extending opposite ends thereof and aligning with the first cable insertion hole.
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5.发明申请公开(公告)号：US20180186415A1
公开(公告)日：2018-07-05
申请号：US15633647
申请日：2017-06-26
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Xiongxing Zha
IPC: B62D57/032 , G06F1/32
CPC classification number: B62D57/032 , B25J13/00 , G06F1/3212
Abstract: An anti-falling method during power outage includes: transmitting first controlling signals to a first leg mechanism and a second leg mechanism to control a first leg and a second leg of the robot to be perpendicular to ground upon determining a power outage condition; transmitting second controlling signals to the first leg mechanism and/or the second leg mechanism to control the first leg and/or the second leg of the robot; controlling the first leg and/or the second leg to move the center of gravity of the robot close to the ground; transmitting third controlling signals to the first leg mechanism and the second leg mechanism to stop movements of the first leg mechanism and the second leg mechanism upon determining a stop condition.
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Patent Agency Ranking
公开(公告)号：US20180186015A1
公开(公告)日：2018-07-05
申请号：US15465609
申请日：2017-03-22
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Feng Hu , Xinpu Chen
IPC: B25J17/00 , B62D57/032 , B25J15/02
CPC classification number: B25J17/00 , B62D57/032 , Y10S901/01 , Y10S901/28
Abstract: A foot structure for contacting the ground and connecting to a leg structure of a humanoid robot, includes: a foot assembly for contacting the ground; a first servo mounted on the foot assembly and including a first output shaft; a connecting assembly rotatably connected to the foot assembly and to constitute an ankle portion; and a second servo mounted on the connecting assembly and connected with the leg structure, the second servo including a second output shaft perpendicular to the first output shaft; the connecting assembly being arranged perpendicularly to the foot assembly and including a first connecting structure used to mount the first output shaft and rotatably connected to the foot assembly, and a second connecting structure connected to the first connecting structure and used to mount the second output shaft.
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7.发明申请公开(公告)号：US20200206936A1
公开(公告)日：2020-07-02
申请号：US16535108
申请日：2019-08-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YOUJUN XIONG , Hanyu Sun , Lifu Zhang , Wenhua Fan , Zhongliang Wang , Yongping Zeng , Jianxin Pang
IPC: B25J9/16
Abstract: The present disclosure provides a servo output shaft angle calibration method and a robot using the same. In the method, when a servo output shaft rotational angle calibration instruction is obtained, an output shaft of a servo is controlled to move in a preset rotational direction, a current angle of the output shaft of the servo is obtained when it detects that the output shaft of the servo has rotated to an end point and has a stalling, and then a preset end point angle is updated as the current angle of the output shaft of the servo, so as to take the current angle of the output shaft of the servo as the new end point angle, thereby realizing the calibration of the end point angle of the output shaft of the servo. In this manner, the entire calibration process requires no manual intervention.
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公开(公告)号：US20200206922A1
公开(公告)日：2020-07-02
申请号：US16236518
申请日：2018-12-30
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Jianxin Pang , Lifu Zhang , Wenhua Fan , Dong Liu
IPC: B25J9/16
Abstract: The present disclosure provides a robot joint motion control method and apparatus as well as a robot using the same. The method includes: obtaining coordinates of a plurality of key points of a motion of a joint of the robot based on a preset linear control model; determining coordinates of two smooth connecting points respectively before and after each key point based on a preset time connecting factor; calculating a joint motion trajectory between each two adjacent smooth connecting points using a preset parabola connecting formula, based on the coordinates of the two smooth connecting points and the corresponding key point; and controlling the joint of the robot to move according to the joint motion trajectory between each two adjacent smooth connecting points. The present disclosure can avoid the joints of a robot from overshooting, thereby enhancing the user experience.
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公开(公告)号：US20190163837A1
公开(公告)日：2019-05-30
申请号：US15984419
申请日：2018-05-21
Applicant: UBTECH Robotics Corp
Inventor： YOUJUN XIONG , Haiwu Su , Lin Chen
IPC: G06F17/30
Abstract: The present disclosure provides a digital data filtering method and apparatus. The method includes: collecting first digital data and second digital data of a current collection period; obtaining a current digital sample data by summing the first digital data and the second digital data and obtaining an arithmetic mean; determining a data change trend of the current digital sample data according to the current digital sample data and a digital sample data of a previous collection period; and determining a filtering method according to the data change trend, and filtering the current digital sample data using the filtering method to obtain a filtered data. The present disclosure can realize the filtering of digital data in different interference scenes, which improves the anti-interference capability of digital data filtering.
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10.发明申请公开(公告)号：US20180191467A1
公开(公告)日：2018-07-05
申请号：US15694865
申请日：2017-09-04
Applicant: UBTECH Robotics Corp.
Inventor： YOUJUN XIONG , Hailang Zhou , Musen Zhang
CPC classification number: H04L1/1809 , H04L1/08 , H04L1/1628 , H04L1/1642 , H04L12/40 , H04L2001/0094 , H04L2012/40215 , H04L2212/00
Abstract: The present disclosure relates to a method for transmitting data through system bus between a main controller and a node of a robot. The method includes sequentially sending date frames to the node; receiving a message of an abnormal, data transmission sent by the main controller; resending the data frames being transmitted abnormally upon receiving the message. The present disclosure also provides a device for transmitting data through system bus.
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