公开(公告)号：US09979862B1

公开(公告)日：2018-05-22

申请号：US15494508

申请日：2017-04-23

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Haiwu Su ,  Lin Chen

IPC: H04N7/00 ,  H04N5/073 ,  H04L12/26 ,  H04N7/04

CPC classification number: H04N5/0736 ,  H04L43/0894 ,  H04L43/16 ,  H04N7/04 ,  H04N21/2401 ,  H04N21/433 ,  H04N21/44004

Abstract: A buffering method for video playing includes: playing a video according to an amount of video buffer data and a predefined playing threshold, and monitoring a network speed; determining whether the network speed meets a predefined condition; and updating a previously set video buffer depth and the playing threshold according to the network speed if the network speed meets the predefined condition. A storage medium and device are also provided.

公开(公告)号：US20180049335A1

公开(公告)日：2018-02-15

申请号：US15367191

申请日：2016-12-02

Applicant: UBTECH Robotics Corp.

Inventor： ZHIQUAN CHEN ,  Youjun Xiong

IPC: H05K5/02 ,  H05K5/00 ,  E05C3/00 ,  E05B65/00 ,  E05B35/00

CPC classification number: H05K5/0221 ,  E05B35/008 ,  E05B65/006 ,  E05C3/00 ,  E05C3/042 ,  H01M2/10 ,  H01M2/1005 ,  H05K5/0008 ,  H05K5/0217

Abstract: An electronic device includes: a support defining a slot, a casing defining a receiving hole, and a locking assembly for detachably connecting the casing to the support. The locking assembly includes a connection member received in the receiving hole and a locking member connected to and rotatable together with the connection member. The locking member is rotatable to a position where the locking member engages the slot, thereby fixing the casing to the support.

公开(公告)号：US20180012065A1

公开(公告)日：2018-01-11

申请号：US15356789

申请日：2016-11-21

Applicant: UBTECH Robotics Corp.

Inventor： Yuan Ji ,  Youjun Xiong

IPC: G06K9/00 ,  G05B19/406 ,  G06T1/00

CPC classification number: G06K9/00228 ,  G05B19/406 ,  G05B2219/33113 ,  G06K9/00261 ,  G06K9/00664 ,  G06T1/0014

Abstract: A face detecting and tracking method includes: acquiring an image and performing a face detection to determine one or more face boxes of each acquired image; performing a detection error removing process to the image of current frame, and saving one of the one or more face boxes of the processed image of current frame as a first face box; and determining a tracking box of the image of current frame based an the first face box and a tracked face box, and tracking the face in the tracking box of the image of current frame.

公开(公告)号：US20180011478A1

公开(公告)日：2018-01-11

申请号：US15373486

申请日：2016-12-09

Applicant: UBTECH Robotics Corp.

Inventor： Lifu Zhang ,  Tingshuang Huang ,  Youjun Xiong

IPC: G05B19/414

CPC classification number: G05B19/414 ,  G05B2219/34013

Abstract: A method for servo locking control is provided. A servo enters a first lock state, and determines whether the current angular deflection values of the servo in a first preset period are all greater than a preset angular deflection value. When the current angular deflection values of the servo in the first preset period are all greater than the preset angular deflection value, the servo enters a second lock state, and determines whether the current angular changing values of the servo in a second preset period are all less than a preset angular changing value. When the current angular changing values of the servo in the second preset period are all less than the preset angular changing value, the servo enters the first lock state. A servo for performing the method for servo locking control is also provided.

公开(公告)号：US12292738B2

公开(公告)日：2025-05-06

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: B25J11/00 ,  B25J9/10 ,  G05D1/00

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：US12286176B2

公开(公告)日：2025-04-29

申请号：US18113625

申请日：2023-02-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Mingguo Zhao ,  Youjun Xiong

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

Abstract: A method for estimating a pose of a humanoid robot includes: processing obtained pose parameters of a waist of the humanoid robot and plantar motion parameters of the humanoid robot to obtain the measured pose parameters of a center point of the waist of the humanoid robot; calculating predicted pose parameters of the center point of the waist according to the obtained pose parameters of the waist; and fusing the measured pose parameters and the predicted pose parameters to obtain estimated pose parameters of the center point of the waist.

公开(公告)号：US12285871B2

公开(公告)日：2025-04-29

申请号：US18201744

申请日：2023-05-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Meng Yan ,  Chunyu Chen ,  Xuan Luo ,  Zhihao Zhang ,  Youjun Xiong

IPC: B25J9/16

Abstract: A robot control method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining first motion data, where the first motion data is human arm end motion data collected by a virtual reality device; obtaining second motion data by mapping the first motion data to a working space of an end of a robotic arm of the robot; obtaining a state of each joint of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint; and controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each joint of the robot by transmitting the control data of the joint to the motion controller, so that the control method is relatively more natural, intuitive, and flexible.

公开(公告)号：US12285870B2

公开(公告)日：2025-04-29

申请号：US18070313

申请日：2022-11-28

Applicant: UBTECH ROBOTICS CORP LTD

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

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

Abstract: A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.

公开(公告)号：US12186909B2

公开(公告)日：2025-01-07

申请号：US18075450

申请日：2022-12-06

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xianwen Zeng ,  Yizhang Lìu ,  Xuan Luo ,  Youjun Xiong

IPC: B25J9/16

Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a trajectory planning parameter of joint(s) of the robot, force data of an end of the robot, and force data of the joint(s); obtaining an end admittance compensation amount; determining a first joint parameter and a first slack variable corresponding to the end admittance compensation amount in a joint space of each of the joint(s) based on the end admittance compensation amount and the trajectory planning parameter; obtaining a joint admittance compensation amount; determining a second joint parameter based on the first joint parameter, the first slack variable, the joint admittance compensation amount, and the trajectory planning parameter; determining a target joint commanding position based on the second joint parameter; and controlling the robot to move according to the target joint commanding position.

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.