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公开(公告)号：US12202131B2
公开(公告)日：2025-01-21
申请号：US18588055
申请日：2024-02-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhongkui Huang , Hongyu Ding , Xuchao Du , Zheng Xie , Wenhua Fan
IPC: B25J17/02
Abstract: A bidirectional energy storage device for a joint includes: a sleeve comprising two, opposite open ends; a first sliding member and a second sliding member that are slidably disposed at the open ends of the sleeve, respectively; an elastic member comprising two, opposite ends that are respectively in contact with the first sliding member and the second sliding member; a first telescopic link comprising a first end and an opposite, second end, the first end of the first telescopic link pivotally connected to the first sliding member, the first telescopic link configured to rotate to drive the first sliding member to slide; a second telescopic link comprising a first end and an opposite, second end, the first end of the second telescopic link pivotally connected to the second sliding member, the second telescopic link configured to rotate to drive the second sliding member to slide.
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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.
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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.
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公开(公告)号：US11833673B2
公开(公告)日：2023-12-05
申请号：US17499890
申请日：2021-10-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhongkui Huang , Zheng Xie , Hongyu Ding , Qixiang Luo
CPC classification number: B25J19/0016 , B25J9/102 , B25J9/108 , B25J9/109 , B25J9/123
Abstract: An energy storing assistive mechanism includes a barrel having a first pivot end and an open end, a rod having a first end that passes through the open end and is received in the barrel, an elastic structure including two ends that abut against the first end of the rod and the first pivot end, a uni-directional gear rack having a second pivot end away from the barrel, and a locking mechanism fixed to the rod, the locking mechanism comprising a locking member and an actuator assembly that is to drive the locking member to move between a first position where the locking member is engaged with the gear rack, and a second position where the locking member is disengaged from the gear rack.
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公开(公告)号：US20220134581A1
公开(公告)日：2022-05-05
申请号：US17499890
申请日：2021-10-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhongkui Huang , Zheng Xie , Hongyu Ding , Qixiang Luo
Abstract: An energy storing assistive mechanism includes a barrel having a first pivot end and an open end, a rod having a first end that passes through the open end and is received in the barrel, an elastic structure including two ends that abut against the first end of the rod and the first pivot end, a uni-directional gear rack having a second pivot end away from the barrel, and a locking mechanism fixed to the rod, the locking mechanism comprising a locking member and an actuator assembly that is to drive the locking member to move between a first position where the locking member is engaged with the gear rack, and a second position where the locking member is disengaged from the gear rack.
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Patent Agency Ranking
公开(公告)号：US20190204848A1
公开(公告)日：2019-07-04
申请号：US16172838
申请日：2018-10-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Ligang Ge , Chunyu Chen , Yizhang Liu , Zheng Xie , Zhaohui An , Jinghua Tang
CPC classification number: G05D1/0268 , B25J9/106 , B25J9/1615 , B25J13/08 , B25J17/00 , B62D57/032 , G05D1/0891 , G05D2201/0217
Abstract: The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning art initial position of an ankle joint of the biped robot and a rotation angle a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle, of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.
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7.发明授权公开(公告)号：US11878426B2
公开(公告)日：2024-01-23
申请号：US17314039
申请日：2021-05-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Ligang Ge , Hongge Wang , Mingqiang Huang , Jiangchen Zhou , Yizhang Liu , Zheng Xie , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/1666 , B25J9/162 , B25J9/1653
Abstract: A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.
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公开(公告)号：US11602858B2
公开(公告)日：2023-03-14
申请号：US17216716
申请日：2021-03-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Zhaohui An , Weizhi Shi , Youjun Xiong
Abstract: A thumb structure includes a proximal phalanx, a distal phalanx rotatably connected to one end of the proximal phalanx, a fixing member connected to the proximal phalanx through a first ball joint, a linking member having opposite ends that are connected to the distal phalanx and the fixing member through a second ball joint and a third ball joint, a first actuating assembly to drive the proximal phalanx to swing in a direction of a first degree of freedom, and a second actuating assembly to drive the proximal phalanx to swing in a direction of a second degree of freedom.
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公开(公告)号：US11565762B2
公开(公告)日：2023-01-31
申请号：US16724413
申请日：2019-12-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Xianwei Su , Zheng Xie , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.
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公开(公告)号：US20210370523A1
公开(公告)日：2021-12-02
申请号：US17326259
申请日：2021-05-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Weizhi Shi , Minghua Chen , Zhaohui An , Youjun Xiong
Abstract: A robotic finger structure includes a proximal phalanx; a middle phalanx rotatably connected to one end of the proximal phalanx; a distal phalanx rotatably connected to one end of the middle phalanx and defining a distal phalanx opening in a front side thereof and at one end adjacent to the middle phalanx; a connecting rod having opposite ends that are rotatably connected to the proximal phalanx and the distal phalanx, and an actuating assembly to drive the middle phalanx to rotate with respect to the proximal phalanx. The connecting rod includes a first angled segment having a first recess facing a back side of the middle phalanx. When the distal phalanx is flush with the middle phalanx, the first angled segment passes through the distal phalanx opening, and a first end of the distal phalanx opening extends into the first recess.
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