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111.发明授权公开(公告)号：US11724393B2
公开(公告)日：2023-08-15
申请号：US17137382
申请日：2020-12-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiaoyu Ren , Liqun Huang , Yuesong Wang , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/1664 , B25J9/1633
Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.
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公开(公告)号：US20230234222A1
公开(公告)日：2023-07-27
申请号：US18129909
申请日：2023-04-03
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yan Xie , Youjun Xiong
CPC classification number: B25J9/163 , B25J9/1651 , B25J9/1607 , B25J9/0006
Abstract: A humanoid robot balance control method, a humanoid robot, and a storage medium are provided. The method includes: obtaining a task equation of each of a plurality of deconstructed tasks in a corresponding control cycle by solving a plurality of deconstructed task models using a relevant actual state and a corresponding expected state of the humanoid robot; calculating an optimal solution of a multi-task error optimization function based on each task equation; and generating a joint control instruction of the corresponding control cycle based on the optimal solution in response to the optimal solution being obtained within the corresponding control cycle so as to control corresponding joint(s) to execute the tasks. In such manner, it can ensure that the robot satisfies the necessary constraints while executing multiple tasks, and also comprehensively considers the errors of all the tasks to ensure the execution of all the tasks.
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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：US20230202027A1
公开(公告)日：2023-06-29
申请号：US18090457
申请日：2022-12-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： CHUNYU CHEN , Jie Bai , Yizhang Liu , Ligang Ge , Zheng Xie , Youjun Xiong
IPC: B25J9/16
CPC classification number: B25J9/1602 , B62D57/032
Abstract: A walking control method for a biped robot includes: detecting whether the biped robot is in an unbalanced state; in response to detection that the biped robot is in the unbalanced state, obtaining a predicted balance step length corresponding to the biped robot in the unbalanced state; performing a smooth transition processing on the predicted balance step length according to a current movement step length of the biped robot to obtain a desired balance step length corresponding to the predicted balance step length; determining a planned leg trajectory of the biped robot according to the desired balance step length; and controlling a current swing leg of the biped robot to move according to the planned leg trajectory.
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公开(公告)号：US20230182328A1
公开(公告)日：2023-06-15
申请号：US18081611
申请日：2022-12-14
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiaoyu Ren , Liqun Huang , Huan Tan , Youjun Xiong
IPC: B25J19/02
CPC classification number: B25J19/02
Abstract: A motion terrain determining method, a robot, and a computer-readable storage medium are provided. The method includes: determining each sine parameter and each cosine parameter corresponding to a target joint in a plurality of joints of the robot according to one or more constraint conditions; determining a motion trajectory of the robot according to the sine parameter and the cosine parameter corresponding to the target joint; and determining a motion terrain of the robot according to the motion trajectory. In this manner, the best motion terrain can be obtained, and the robot is controlled to move on the determined motion terrain when determining the dynamics parameters of the robot, where the obtained dynamics parameters are more accurate to effectively improve the efficiency of the identification of the dynamics parameters.
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Patent Agency Ranking
公开(公告)号：US11636779B2
公开(公告)日：2023-04-25
申请号：US16677698
申请日：2019-11-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yanhui Zhang , Youjun Xiong
Abstract: The present disclosure is provides a method, an apparatus and a terminal device for constructing parts together. The method includes: determining an assembly progress of an object constructed of parts; determining a currently required part according to the assembly progress; identifying, in a part photo of the object, the currently required part using a pre-trained first neural network model and marking the one or more identified currently required parts in the part photo; and displaying, via a display, a 3D demonstration animation with the marked part photo as a background image. The method is based on the existing 3D demonstration animation, which identifies the currently required part in the captured part photo and marks the identified currently required part in the part photo, and then displays the marked part photo as the background image of the 3D demonstration animation, thereby adding a prompt for the real part.
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公开(公告)号：US11631192B2
公开(公告)日：2023-04-18
申请号：US17107860
申请日：2020-11-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
Abstract: A robot climbing control method is disclosed. The method obtains an RGB color image and a depth image of stairs, extracts an outline of a target object of a target step on the stairs from the RGB color image, determines relative position information of the robot and the target step according to the depth image and the outline of the target object, and controls the robot to climb the target step according to the relative position information. The embodiment of the present disclosure allows the robot to effectively adjust postures and forward directions on any size of and non-standardized stairs and avoids the deviation of the walking direction, thereby improving the effectiveness and safety of the stair climbing of the robot.
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公开(公告)号：US11602848B2
公开(公告)日：2023-03-14
申请号：US17120229
申请日：2020-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Jianxin Pang , Youjun Xiong
Abstract: A robot control method includes: obtaining force information associated with feet of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a position trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body; obtaining posture information of the robot; updating a posture trajectory of the robot according to the posture information to obtain an updated pose angle; performing inverse kinematics analysis on the updated position of the COM of the body and the updated pose angle to obtain joint angles of legs of the robot; and controlling the robot to move according to the joint angles.
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公开(公告)号：US11593974B2
公开(公告)日：2023-02-28
申请号：US17075727
申请日：2020-10-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhichao Liu , Jianxin Pang , Youjun Xiong
Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.
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公开(公告)号：US11580299B2
公开(公告)日：2023-02-14
申请号：US16886826
申请日：2020-05-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Li Ma , Youjun Xiong
IPC: G06F40/242 , G06N20/00 , G06F40/289 , G06N7/00
Abstract: The present disclosure provides a corpus cleaning method and a corpus entry system. The method includes: obtaining an input utterance; generating a predicted value of an information amount of each word in the input utterance according to the context of the input utterance using a pre-trained general model; and determining redundant words according to the predicted value of the information amount of each word, and determining whether to remove the redundant words from the input utterance. In such a manner, the objectivity and accuracy of corpus cleaning can be improved.
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