-
公开(公告)号：US20190217464A1
公开(公告)日：2019-07-18
申请号：US16212619
申请日：2018-12-06
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Hao Dong , Yuesong Wang , Mingguo Zhao
CPC classification number: B25J9/0006 , B25J9/0009 , B25J9/1633 , B25J13/085 , B25J13/088 , B25J19/02 , B62D57/032
Abstract: A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.
-
公开(公告)号：US20210221455A1
公开(公告)日：2021-07-22
申请号：US17092347
申请日：2020-11-09
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yuesong Wang , Hao Dong , Guoping Yang , Mingguo Zhao , Youjun Xiong
IPC: B62D57/032
Abstract: The present disclosure provides a legged robot continuous hopping control method as well as a legged robot and a computer readable storage medium using the same. The method includes: dividing each of the phases into a desired entry stage, an actual entry stage, a during stage, and an exit and state transiting stage; detecting a transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase to obtain a corresponding state detecting result; updating state information of the robot based on the state detecting result; and controlling the robot to continuously hop by transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase according to the updated state information. In this manner, the stability of the continuous hopping of the legged robot can be greatly improved.
-
公开(公告)号：US11045945B2
公开(公告)日：2021-06-29
申请号：US16212619
申请日：2018-12-06
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Hao Dong , Yuesong Wang , Mingguo Zhao
IPC: B25J9/00 , B25J9/16 , B62D57/032 , B25J13/08 , B25J19/02
Abstract: A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.
-
Patent Agency Ranking
公开(公告)号：US11969890B2
公开(公告)日：2024-04-30
申请号：US17584398
申请日：2022-01-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ziyi Wang , Guoping Yang , Hao Dong
IPC: B25J9/16 , G05B15/02 , H04L67/125
CPC classification number: B25J9/161 , G05B15/02 , H04L67/125
Abstract: A control method and a control system using the same as are provided. The method includes: extracting a corresponding component data from a component data stream based on an application protocol registered by each of a plurality of applications and encapsulating a corresponding application data packet for the application in response to receiving the component data stream in a current control period; transmitting the corresponding application data packet to each of the applications; obtaining control data reported by each of the applications according to data reporting timing corresponding to the application; and generating a component control instruction for controlling each of the components according to the control data reported by each of the applications in the current control period and the application protocol registered by the application. In this manner, the orderly control of a smart devices within a limited control period can be achieved.
-
5.发明公开公开(公告)号：US20240025038A1
公开(公告)日：2024-01-25
申请号：US18373991
申请日：2023-09-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yisen HU , Hao Dong , Hongyu Ding , Youjun Xiong
IPC: B25J9/16 , B25J9/10 , B62D57/032
CPC classification number: B25J9/163 , B25J9/1664 , B25J9/106 , B25J9/161 , B25J9/1607 , B62D57/032
Abstract: A robot control method, a legged robot using the same, and a computer-readable storage medium are provided. The method includes: obtaining a motion parameter of a driving mechanism of a target part of the robot; and obtaining an end pose of the target part by processing the motion parameter of the driving mechanism according to a preset forward kinematics solving model, where the forward kinematics solving model is a neural network model trained by a preset training sample set constructed according to a preset inverse kinematics function relationship. In this manner, a complex forward kinematics solving process can be transformed into a relatively simple inverse kinematics solving process and neural network model processing process, which reduces the computational complexity, shortens the computational time, thereby meeting the demand for real-time control of the robot.
-
6.发明授权公开(公告)号：US11179855B2
公开(公告)日：2021-11-23
申请号：US16669551
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hao Dong , Youjun Xiong , Yuesong Wang , Mingguo Zhao
Abstract: The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.
-
7.发明申请公开(公告)号：US20200206944A1
公开(公告)日：2020-07-02
申请号：US16669551
申请日：2019-10-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hao Dong , Youjun Xiong , Yuesong Wang , Mingguo Zhao
Abstract: The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.
-
公开(公告)号：US20220305643A1
公开(公告)日：2022-09-29
申请号：US17584398
申请日：2022-01-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ziyi Wang , Guoping Yang , Hao Dong
Abstract: A control method and a control system using the same as are provided. The method includes: extracting a corresponding component data from a component data stream based on an application protocol registered by each of a plurality of applications and encapsulating a corresponding application data packet for the application in response to receiving the component data stream in a current control period; transmitting the corresponding application data packet to each of the applications; obtaining control data reported by each of the applications according to data reporting timing corresponding to the application; and generating a component control instruction for controlling each of the components according to the control data reported by each of the applications in the current control period and the application protocol registered by the application. In this manner, the orderly control of a smart devices within a limited control period can be achieved.
-
-
-
-
-
-
-
Search Results
8
records
(took 0.01 seconds)
