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公开(公告)号：US20230182297A1
公开(公告)日：2023-06-15
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
CPC classification number: B25J9/1664 , B25J9/1607 , B25J9/1638 , B25J9/1651 , B25J13/088 , 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.
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公开(公告)号：US20230158672A1
公开(公告)日：2023-05-25
申请号：US18052535
申请日：2022-11-03
Applicant: UBTECH ROBOTICS CORP LTD.
Inventor： YIZHANG LIU , Youjun Xiong , Xianwen Zeng , Zhihao Zhang , Meihui Zhang , Chunyu Chen
IPC: B25J9/16
CPC classification number: B25J9/1666 , B25J9/163
Abstract: A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.
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公开(公告)号：US11654557B2
公开(公告)日：2023-05-23
申请号：US17198167
申请日：2021-03-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiaoyu Ren , Liqun Huang , Youjun Xiong
CPC classification number: B25J9/1633 , B25J9/1607 , B25J13/085 , B25J13/089 , G05B2219/37091 , G05B2219/50391
Abstract: A direct force feedback control method as well as a controller and a robot using the same are provided. The method includes: obtaining an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end in a Cartesian space; calculating an impedance control component of the end in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end; calculating a force control component of the end in the Cartesian space based on an expected interaction force acting on the end, the actual external force, and the actual speed; determining whether the actual external force is larger than a preset threshold, and obtaining a total force control quantity of the end of the robotic arm in the Cartesian space.
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134.发明授权公开(公告)号：US11654551B2
公开(公告)日：2023-05-23
申请号：US17134565
申请日：2020-12-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Liqun Huang , Xiaoyu Ren , Yuesong Wang , Youjun Xiong
CPC classification number: B25J9/1607 , B25J9/023 , B25J9/1643 , B25J9/1651 , B25J13/085 , B25J9/1666 , B25J9/1676
Abstract: The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.
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公开(公告)号：US20230133934A1
公开(公告)日：2023-05-04
申请号：US18089588
申请日：2022-12-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Jiangchen Zhou , Qiuyue Luo , Youjun Xiong
IPC: B25J9/16 , B25J13/08 , B62D57/032
Abstract: A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.
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Patent Agency Ranking
公开(公告)号：US11639005B2
公开(公告)日：2023-05-02
申请号：US17326259
申请日：2021-05-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Weizhi Shi , Minghua Chen , Zhaohui An , Youjun Xiong
Abstract: A robotic finger structure includes a proximal phalanx; a middle phalanx rotatably connected to one end of the proximal phalanx; a distal phalanx rotatably connected to one end of the middle phalanx and defining a distal phalanx opening in a front side thereof and at one end adjacent to the middle phalanx; a connecting rod having opposite ends that are rotatably connected to the proximal phalanx and the distal phalanx, and an actuating assembly to drive the middle phalanx to rotate with respect to the proximal phalanx. The connecting rod includes a first angled segment having a first recess facing a back side of the middle phalanx. When the distal phalanx is flush with the middle phalanx, the first angled segment passes through the distal phalanx opening, and a first end of the distal phalanx opening extends into the first recess.
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公开(公告)号：US11618173B2
公开(公告)日：2023-04-04
申请号：US16854856
申请日：2020-04-21
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jian Li , Hongyu Ding , Youpeng Li , Jianxin Pang , Youjun Xiong
Abstract: A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.
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公开(公告)号：US11602843B2
公开(公告)日：2023-03-14
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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公开(公告)号：US11579624B2
公开(公告)日：2023-02-14
申请号：US16935234
申请日：2020-07-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Chenchen Jiang , Kun Xie , Zhichao Liu , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides an autonomous mobile apparatus and a control method thereof. The method includes: starting a SLAM mode; obtaining first image data captured by a first camera; extracting a first tag image of positioning tag(s) from the first image data; calculating a three-dimensional camera coordinate of feature points of the positioning tag(s) in a first camera coordinate system of the first camera based on the first tag image; calculating a three-dimensional world coordinate of the feature points of the positioning tag(s) in a world coordinate system based on a first camera pose of the first camera when obtaining the first image data in the world coordinate system and the three-dimensional camera coordinate; and generating a map file based on the three-dimensional world coordinate of the feature points of the positioning tag(s).
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公开(公告)号：US11447196B2
公开(公告)日：2022-09-20
申请号：US16708464
申请日：2019-12-10
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youpeng Li , Youjun Xiong , Hongyu Ding , Meichun Liu , Jianxin Pang
IPC: B62D57/032 , B25J9/10 , B25J18/00
Abstract: A robotic leg assembly includes a main body having a first end and an opposite second end, a first servo arranged at the first end of the main body, a second servo connected to the main body and comprising an output shaft, a servo holder arranged at the second end of the main body, a third servo received in the servo holder, and a linkage bar mechanism. Each of a first initial angle of the first rotary member and a second initial angle of the second rotary member is in a predetermined range.
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