公开(公告)号：US12280510B2

公开(公告)日：2025-04-22

申请号：US17678037

申请日：2022-02-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Youjun Xiong ,  Yizhang Liu ,  Qiuyue Luo ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou

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

Abstract: A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.

公开(公告)号：US12138803B2

公开(公告)日：2024-11-12

申请号：US18089588

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou ,  Qiuyue Luo ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/032

Abstract: A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.

公开(公告)号：US12070856B2

公开(公告)日：2024-08-27

申请号：US17557076

申请日：2021-12-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongge Wang ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jie Bai ,  Xingxing Ma ,  Jiangchen Zhou

IPC: B25J9/16 ,  B62D57/02 ,  G05B19/41 ,  G05B19/4155

CPC classification number: B25J9/1605 ,  B25J9/1633 ,  B62D57/022 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A robot balance control method as well as a robot using the same and a computer readable storage medium are provided. In the method, a brand new flywheel model different from the existing flywheel model is created. In this flywheel model, the foot of the support leg of the robot is equivalent to the massless link of the flywheel model, while rest parts of the robot are equivalent to the flywheel of the flywheel model. Compared with the various models in the prior art, this flywheel model is more in line with the actual situation of the robot during the monoped supporting period. By controlling the posture of the foot of the support leg based on this flywheel model, a better balance effect can be achieved, which avoids the overturning of the robot.

公开(公告)号：US11926052B2

公开(公告)日：2024-03-12

申请号：US17133575

申请日：2020-12-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B62D57/032 ,  G05D1/00

CPC classification number: B25J9/163 ,  B25J9/162 ,  B25J9/1664 ,  B62D57/032 ,  G05D1/02

Abstract: A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.

公开(公告)号：US20240001558A1

公开(公告)日：2024-01-04

申请号：US18369858

申请日：2023-09-19

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： SHUO ZHANG ,  Zheng Xie ,  Yizhang Liu ,  Zhihao Zhang ,  Yingfu Zeng ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1697

Abstract: A robot calibration method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining operation space information of the execution end of the robot; obtaining operation space points after gridding an operation space of the robot by gridding the operation space based on the operation space information; obtaining calibration data by controlling the execution end to move to the operation space points meeting a preset requirement; and calibrating the hand and the image detection device of the robot based on the obtained calibration data. In this manner, the operation space points are determined by gridding the operation space based on the operation space information, and the execution end can be automatically controlled to move to the operation space points that meet the preset requirements so as to obtain the calibration data in an automatic and accurate manner, thereby simplifying the calibration process and improving the efficiency.

公开(公告)号：US20230359207A1

公开(公告)日：2023-11-09

申请号：US18222448

申请日：2023-07-16

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： QIUYUE LUO ,  Ligang Ge ,  Yizhang Liu ,  Jie Bai ,  Youjun Xiong

IPC: G05D1/02 ,  B25J11/00 ,  B25J9/10

CPC classification number: G05D1/0212 ,  B25J11/00 ,  B25J9/10

Abstract: A trajectory planning method, a computer-readable storage medium, and a robot are provided. The method includes: constructing a phase variable of a trajectory planning of a robot, where the phase variable is a function of two position components of a torso of the robot on a horizontal plane; and performing, using the phase variable replacing a time variable, the trajectory planning on a swinging leg of the robot in each preset coordinate axis direction. In this manner, the robot can no longer continue to follow the established trajectory after being disturbed by the environment, but make state adjustments according to the disturbance received to offset the impact of the disturbance, thereby maintaining walking stability and avoiding the problem of early or late landing of the swinging leg.

公开(公告)号：US20230191604A1

公开(公告)日：2023-06-22

申请号：US18071462

申请日：2022-11-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Qiuyue Luo ,  Jiangchen Zhou ,  Meng Yan ,  Youjun Xiong

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1664 ,  B25J9/1605 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.

公开(公告)号：US20230130977A1

公开(公告)日：2023-04-27

申请号：US18089614

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xianwen Zeng ,  Yizhang Liu ,  Meihui Zhang ,  Jinliang Chen ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling a robot comprising an end effector includes: establishing at steady state between the end effector and a working surface through a preset impedance control mechanism, and adjusting a contact force between the end effector and the working surface according to a preset desired force; obtaining a contact torque generated by the contact force; controlling the end effector to rotate according to the contact torque until a pose of the end effector is consistent with a pose of the working surface; and controlling the end effector to move tangentially along the working surface.

公开(公告)号：US20230101489A1

公开(公告)日：2023-03-30

申请号：US17553758

申请日：2021-12-16

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yizhang Liu ,  Youjun Xiong ,  Xuan Luo ,  Xianwen Zeng ,  Ligang Ge ,  Chunyu Chen

IPC: B25J9/16

Abstract: A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided. The method includes: obtaining an optimization objective function, a joint acceleration inequation constraint function and a joint acceleration equation constraint function corresponding to the optimization target from a quadratic programming function library, where the optimization objective function is an objective function obtained based on the upper and lower limits of the optimization target and a Euclidean distance algorithm; and obtaining a joint acceleration planning result by performing a quadratic optimization solving on a joint acceleration of each of the target joints of the robot at time k according to the end Cartesian space speed at time k+1, the joint parameter set of the target joints of the robot at time k, the sampling period, the optimization objective function, the joint acceleration inequation constraint function, and the joint acceleration equation constraint function.

公开(公告)号：US11599118B2

公开(公告)日：2023-03-07

申请号：US17137429

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: G05D1/02 ,  B62D57/032

Abstract: A gait planning method includes: performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, which includes: acquiring a first step length and a second step length at a beginning of each CoM timing period; calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length; calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length; and performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.