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：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：US12094084B2

公开(公告)日：2024-09-17

申请号：US17388043

申请日：2021-07-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Bin Sun ,  Mingguo Zhao ,  Youjun Xiong

IPC: G06T5/20 ,  G06F7/24 ,  G06T5/50

CPC classification number: G06T5/20 ,  G06F7/24 ,  G06T5/50 ,  G06T2207/20021 ,  G06T2207/20221

Abstract: Image processing methods are provided. One of the method includes: obtaining a to-be-processed multi-channel feature maps; obtaining multi-channel first output feature maps and multi-channel second output feature maps by processing the multi-channel feature maps through a parallel pointwise convolution and non-pointwise operation, where the non-pointwise convolution is for descripting a spatial feature of each channel and an information exchange between the feature maps; and fusing the multi-channel first output feature maps and the multi-channel second output feature maps to obtain a multi-channel third output feature map.

公开(公告)号：US11945528B2

公开(公告)日：2024-04-02

申请号：US17134147

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liang Huang ,  Hongyu Ding ,  Youjun Xiong

IPC: B25J9/02 ,  B62D57/032

CPC classification number: B62D57/032

Abstract: A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.

公开(公告)号：US20240085913A1

公开(公告)日：2024-03-14

申请号：US18517006

申请日：2023-11-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Simin Zhang ,  Youjun Xiong

IPC: G05D1/02 ,  G01C21/00 ,  G05D1/00

CPC classification number: G05D1/0212 ,  G01C21/3841 ,  G05D1/0011

Abstract: A robot autonomous operation method, a robot, and a computer-readable storage medium are provided. The method includes: moving the robot, under a control of a user, along a guide path in an operation scene; generating a map including the guide path by positioning and mapping during the robot being moved along the guide path in the operation scene; generating a plurality of operation points on the guide path in the map; generating an operation path, wherein the operation path passes through all of the unpassed operation points and has a shortest total distance; and moving the robot, according to the operation path, to each of the unpassed operation points so as to perform an operation. In this manner, it controls the robot to explore the guide path in the operation scene by manual guiding, which can improve the exploration efficiency and reduce the risk of exploring unknown operation scenes.

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：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.

公开(公告)号：US11872701B2

公开(公告)日：2024-01-16

申请号：US17485412

申请日：2021-09-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Yuesong Wang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1607 ,  G05D2201/0217

Abstract: A total centroid state estimation method as well as a humanoid robot and a computer readable storage medium using the same are provided. The method includes: obtaining a motion state of each real joint of the humanoid robot and a motion state of its floating base, where the floating base is equivalent to a plurality of sequent-connected virtual joints; calculating a joint position, a centroid position, and a rotation matrix of each link in the world coordinate system in sequence using the chain rule of homogeneous multiplication according to the position of the joint corresponding to the link to solve a Jacobian matrix of the centroid of the link; solving a total centroid Jacobian matrix based on the Jacobian matrix of the centroid of each link and the total mass; and calculating the total centroid velocity based on the total centroid Jacobian matrix and other parameters.

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.