公开(公告)号：US11550335B2

公开(公告)日：2023-01-10

申请号：US16753408

申请日：2018-11-28

Applicant: UBTECH ROBOTICS CORP.

Inventor： Youjun Xiong ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Jianxin Pang

IPC: B62D57/032 ,  G05D1/02

Abstract: The present disclosure discloses a biped robot and its moving method and apparatus. The method includes: calculating a motion state of each servo of legs of a biped robot according to an actual trajectory of the biped robot, and controlling the servo to rotate to the corresponding motion state. The scheme enables the biped robot to achieve flexible controls to the biped robot according to the received real-time external feedbacks.

公开(公告)号：US20220379480A1

公开(公告)日：2022-12-01

申请号：US17678037

申请日：2022-02-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B62D57/032

Abstract: A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.

公开(公告)号：US11511437B2

公开(公告)日：2022-11-29

申请号：US16923069

申请日：2020-07-07

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Marten Byl ,  Chengkun Zhang ,  Raymond Ma ,  Muhammed Rasid Pac ,  Huan Tan ,  Youjun Xiong

IPC: B25J11/00 ,  B25J5/00 ,  B65G1/02 ,  B65G61/00 ,  B25J9/16 ,  B25J9/10 ,  B25J9/12 ,  B25J19/00 ,  B25J9/00 ,  B25J19/02 ,  G05D1/02

Abstract: A wheeled base includes a housing, two driven wheeled mechanisms positioned on a bottom of the housing and on opposite sides of the housing, at least one passive wheel positioned on the bottom of the housing, actuated feet positioned on the bottom of the housing and configured to move up and down, sensors, and a battery pack arranged within the housing. The two driven wheeled mechanisms each includes a damping mechanism, and each damping mechanism includes at least two dampers configured to absorb impact caused by an upward movement of the housing, and absorb impact caused by a downward movement of the housing.

公开(公告)号：US20220362929A1

公开(公告)日：2022-11-17

申请号：US17868790

申请日：2022-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yijie Guo ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

Abstract: A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.

公开(公告)号：US11501082B2

公开(公告)日：2022-11-15

申请号：US16734389

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Li Ma ,  Weixing Xiong ,  Youjun Xiong

IPC: G06F40/30 ,  G06F16/31 ,  G06F16/35 ,  G06F40/205

Abstract: The present disclosure provides a sentence generation method as well as a sentence generation apparatus and a smart device. The method includes: obtaining an input sentence; searching for structurally similar sentence(s) of each input sentence, where the structurally similar sentence(s) are structurally similar to the input sentence; finding semantically similar sentence(s) of the structurally similar sentence(s); parsing the input sentence and the structurally similar sentence(s) to obtain a subject block, a predicate block, and an object block to rewrite the semantically similar sentences to generate a new sentence; filtering the new sentence based on a preset filtering condition; and labeling the filtered new sentence as a semantically similar sentence of the input sentence. In this manner, a plurality of new sentences with different sentence patterns can be generated based on the same input sentence, which improves the controllability in generating the sentences and saves the labor cost therein.

公开(公告)号：US11498227B2

公开(公告)日：2022-11-15

申请号：US16709931

申请日：2019-12-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yongsheng Zhao ,  Zhichao Liu ,  Youjun Xiong

IPC: B25J19/02 ,  G05B13/04 ,  B25J9/16

Abstract: The present disclosure provides a robot pose determination method including: collecting laser frames; calculating a current pose of the robot in a map pointed by a first pointer based on the laser frames, and obtaining an amount of the laser frames having been inserted into the map pointed by the first pointer; inserting the laser frames into a map pointed by the first pointer, if less than a first threshold; inserting the laser frames into the map pointed by the first pointer and a map pointed by a second pointer, if greater than or equal to the first threshold and less than a second threshold; and pointing the first pointer to the map pointed by the second pointer, pointing the second pointer to a newly created empty map, and inserting the laser frames into the map pointed by the first pointer, if equal to the second threshold.

公开(公告)号：US20220324106A1

公开(公告)日：2022-10-13

申请号：US17702819

申请日：2022-03-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhihao Zhang ,  Yizhang Liu ,  Jinliang Chen ,  Youjun Xiong

IPC: B25J9/16

Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.

公开(公告)号：US11440198B2

公开(公告)日：2022-09-13

申请号：US16861200

申请日：2020-04-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Houzhu Ding ,  Mohammad Iman Mokhlespour Esfahani ,  Chengkun Zhang ,  Huan Tan ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/12 ,  B25J13/08 ,  B25J19/04 ,  B25J11/00 ,  B25J19/00

Abstract: A control system for a neck mechanism includes a perception system configured to track movement of an object, and a perception control system that controls a rotary motor to yaw a platform and controls a first linear actuator and a second linear actuator that is in parallel with the first linear actuator to pitch and roll the platform according to a target position of the platform. The perception system tracks movement of the object by estimating its position and pose in 3D space and the platform is moved according to a vision-based position and pose estimation result.

公开(公告)号：US11422261B2

公开(公告)日：2022-08-23

申请号：US16699750

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhichao Liu ,  Youjun Xiong

IPC: G01S17/00 ,  G01S17/89 ,  G01S7/48 ,  G05D1/02 ,  G05D1/00

Abstract: The present disclosure provides a robot relocalization method including: obtaining a level feature of an object in a laser map and calculating a first pose list; matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, if a distance between the level feature of the object and an initial position of a relocation of the robot is smaller than a threshold; splicing the laser subgraph point cloud into subgraphs, and performing a multi-target template matching to obtain a first matching candidate result; filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result; determining a overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.

公开(公告)号：US11416719B2

公开(公告)日：2022-08-16

申请号：US17012016

申请日：2020-09-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chenchen Jiang ,  Zhichao Liu ,  Yongsheng Zhao ,  Yu Tang ,  Jianxin Pang ,  Youjun Xiong

IPC: G06K9/62 ,  G01S19/47 ,  G01S19/48 ,  G01S19/49

Abstract: The present disclosure provides a localization method as well as a helmet and a computer readable storage medium using the same. The method includes: extracting first feature points from a target image; obtaining inertial information of the carrier, and screening the first feature points based on the inertial information to obtain second feature points; triangulating the second feature points of the target image to generate corresponding initial three-dimensional map points, if the target image is a key frame image; performing a localization error loopback calibration on the initial three-dimensional map points according to at least a predetermined constraint condition to obtain target three-dimensional map points; and determining a positional point of the specific carrier according to the target three-dimensional map points. In this manner, the accuracy of the localization of a dynamic object such as a person when moving can be improved.