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1.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：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.
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公开(公告)号：US20220193899A1
公开(公告)日：2022-06-23
申请号：US17488341
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
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公开(公告)号：US20210162595A1
公开(公告)日：2021-06-03
申请号：US16932872
申请日：2020-07-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Ligang Ge , Yizhang Liu , Hongge Wang , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.
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5.发明授权公开(公告)号：US12122468B2
公开(公告)日：2024-10-22
申请号：US17562985
申请日：2021-12-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Ligang Ge , Yizhang Liu , Jie Bai , Chunyu Chen , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
IPC: B62D57/032 , B25J9/16
CPC classification number: B62D57/032 , B25J9/1664
Abstract: A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.
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Patent Agency Ranking
公开(公告)号：US11693430B2
公开(公告)日：2023-07-04
申请号：US17114526
申请日：2020-12-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Ligang Ge , Yizhang Liu , Hongge Wang , Jianxin Pang , Youjun Xiong
IPC: G05D1/02 , G05D1/08 , B62D57/02 , G05B19/4155
CPC classification number: G05D1/0891 , B62D57/02 , G05B19/4155 , G05D1/0212 , G05B2219/40233
Abstract: A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.
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公开(公告)号：US20220206501A1
公开(公告)日：2022-06-30
申请号：US17462019
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Yizhang Liu , Ligang Ge , Hongge Wang , Jie Bai , Jiangchen Zhou , Zheng Xie
Abstract: A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated. By continuously adjusting the preset displacement angle, each landing point position is calculated accordingly, and the valid landing point positions are recorded in the footprint set, which provides more feasible landing points for navigation planning.
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公开(公告)号：US12005584B2
公开(公告)日：2024-06-11
申请号：US17488341
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
CPC classification number: B25J9/1653 , B25J9/1607 , B25J9/1664 , B25J13/088
Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
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公开(公告)号：US11983012B2
公开(公告)日：2024-05-14
申请号：US17462019
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Yizhang Liu , Ligang Ge , Hongge Wang , Jie Bai , Jiangchen Zhou , Zheng Xie
IPC: G05D1/00 , B62D57/032
CPC classification number: G05D1/0214 , G05D1/0231 , B62D57/032
Abstract: A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated. By continuously adjusting the preset displacement angle, each landing point position is calculated accordingly, and the valid landing point positions are recorded in the footprint set, which provides more feasible landing points for navigation planning.
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公开(公告)号：US11560192B2
公开(公告)日：2023-01-24
申请号：US16885227
申请日：2020-05-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Ligang Ge , Hongge Wang , Yizhang Liu , Shuping Hu , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.
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