公开(公告)号：US20210146538A1

公开(公告)日：2021-05-20

申请号：US16734393

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Zhaohui An ,  Zheng Xie ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.

公开(公告)号：US20210107577A1

公开(公告)日：2021-04-15

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

IPC: B62D57/02 ,  G01L5/16

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.

公开(公告)号：US10935090B2

公开(公告)日：2021-03-02

申请号：US16368879

申请日：2019-03-29

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Youpeng Li ,  Hongyu Ding ,  Meichun Liu ,  Jianxin Pang

IPC: F16D63/00 ,  F16D55/226 ,  F16D65/12 ,  F16D129/10

Abstract: A brake assembly for a servo including a motor includes: a brake disk fixed to and rotatable together with the output shaft of the motor of the servo, the brake disk having a lateral wall defining at least one opening; and a linear motion actuator including a plunger and an elastic member. The plunger sides from a first position where a first end of the plunger is received in the at least one opening to a second position where the first end of the plunger is disengaged from the brake disk when the linear motion actuator is energized. The elastic member applies an elastic force to cause the plunger to slide from the second position to the first position when the linear motion actuator is deenergized so as to stop rotation of the output shaft of the motor.

公开(公告)号：USD910782S1

公开(公告)日：2021-02-16

申请号：US29627303

申请日：2017-11-26

Applicant: UBTECH Robotics Corp

Designer： Jian Zhou ,  Huaqiang Lu ,  Yiping Li ,  Youjun Xiong ,  John Rhee ,  Peng Deng ,  Jianxin Pang ,  Zheng Xie ,  Shulong Liu ,  Yangyu Pi ,  Youpeng Li ,  Jing Shi ,  Yizhang Liu ,  Kunlei Zhao

公开(公告)号：US20200206949A1

公开(公告)日：2020-07-02

申请号：US16370889

申请日：2019-03-30

Applicant: UBTECH Robotics Corp

Inventor： Sicong Liu ,  Youjun Xiong ,  Hongyu Ding ,  Qidong Xu ,  Jianxin Pang

IPC: B25J15/00 ,  B25J15/08 ,  F16H25/20 ,  F16C1/16

Abstract: A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.

公开(公告)号：US20200206945A1

公开(公告)日：2020-07-02

申请号：US16556233

申请日：2019-08-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Jianxin Pang ,  Wanli Zhang ,  Jingtao Zhang

IPC: B25J13/08 ,  B25J19/02 ,  B25J9/16

Abstract: The present disclosure relates to robot technology, which provides a robot pose estimation method as well as an apparatus and a robot using the same. The method includes: obtaining, through an inertial measurement unit, initial 6DoF pose data; performing a first correction on the initial 6DoF pose data based on pose data obtained through an auxiliary sensor to obtain corrected 6DoF pose data; obtaining, through a 2D lidar sensor disposed on a stable platform, 3DoF pose data; and performing a second correction on the corrected 6DoF pose data based on the 3DoF pose data to obtain target 6DoF pose data. In this manner, the accuracy of the pose data of the robot is improved, and the accurate pose estimation of the robot is realized.

公开(公告)号：US20200206914A1

公开(公告)日：2020-07-02

申请号：US16671164

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongping Zeng ,  Youjun Xiong ,  Zhongliang Wang ,  Dong Liu ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/10 ,  G05F1/10

Abstract: The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.

公开(公告)号：US20200206898A1

公开(公告)日：2020-07-02

申请号：US16572637

申请日：2019-09-17

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YOUJUN XIONG ,  Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Zheng Xie ,  Jianxin Pang

IPC: B25J9/00 ,  B25J13/08 ,  B25J9/16

Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.

公开(公告)号：US20200184682A1

公开(公告)日：2020-06-11

申请号：US16548868

申请日：2019-08-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YOUJUN XIONG ,  Wanli Zhang ,  Jianxin Pang

IPC: G06T7/73 ,  G06T7/246 ,  G06T7/90

Abstract: The present disclosure relates to robot technology, which provides an object pose tracking method and apparatus. The method includes: obtaining an initial pose of the object, and determining a first viewing angle of an object with respect to a camera based on the initial pose; searching for a first 3D model corresponding to the first viewing angle; calculating a projected contour of an initial pose using the searched first 3D model, and obtaining feature point(s) of the projected contour; calculating a pose change amount based on the feature point(s) of the projected contour and feature point(s) of a real contour; and performing an iterative calculation on the pose change amount to obtain a pose correction amount, and obtaining a corrected pose of the object based on the pose correction amount. In the calculation process, the 3D model can be selected to improve the calculation speed by fewer feature points.

公开(公告)号：US20190206117A1

公开(公告)日：2019-07-04

申请号：US16231978

申请日：2018-12-25

Applicant: UBTECH ROBOTICS CORP.

Inventor： Youjun XIONG ,  Shengqi Tan ,  Cihui Pan ,  Xianji Wang ,  Jianxin Pang

IPC: G06T15/20 ,  G06T5/00 ,  G06T7/194 ,  G06T5/50

CPC classification number: G06T15/205 ,  G06T5/002 ,  G06T5/50 ,  G06T7/194 ,  G06T2207/10028 ,  G06T2207/20221

Abstract: The present disclosure provides an image processing method, an intelligent terminal, and a storage device. The image processing method may include: obtaining an original image, and obtaining mask information of a target object from the original image, wherein the mask information includes classification information for foreground and background of the target object; denoising the original image to obtain a denoised image of the original image; and obtaining a target image from the denoised image according to the mask information of the target object. The present disclosure can improve the quality of the image by denoising the original image, and the obtained target image can be a minimum-sized image including all the information of the target object. Because the size of the image is reduced without losing valid information, the calculation amount of the 3D synthesis can be greatly reduced.