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：US12277801B2

公开(公告)日：2025-04-15

申请号：US17566734

申请日：2021-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chenghao Qian ,  Miaochen Guo ,  Jun Cheng ,  Jianxin Pang

IPC: G06T7/73 ,  G06F3/01 ,  G06T7/11 ,  G06T7/55 ,  G06T11/20 ,  G06V10/82 ,  G06V40/20

Abstract: A gesture recognition method includes: acquiring a target image containing a gesture to be recognized; inputting the target image to a gesture recognition model that has a first sub-model, a second sub-model, and a third sub-model, the first sub-model is to determine a gesture category and a gesture center point, the second sub-model is to determine an offset of the gesture center point, and the third sub-model is to determine a length and a width of a bounding box for the gesture to be recognized; acquiring an output result from the gesture recognition model, the output result includes the gesture category, the gesture center point, and the offset of the gesture center point, and the length and the width of the bounding box; and determining the gesture category and a position of the bounding box of the gesture to be recognized according to the output result.

公开(公告)号：US12250929B2

公开(公告)日：2025-03-18

申请号：US18381181

申请日：2023-10-18

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jin Li ,  Yudong Liu ,  Xinshui Huang ,  Xianglong Li ,  Jun Li

IPC: A01K5/02 ,  F25B21/04

Abstract: A pet feeder includes: a housing, a heat conduction member, a temperature adjustment structure and a heat dissipation member that are arranged in the housing, a tray, a cover, and an actuating mechanism. The temperature adjustment structure includes a thermoelectric cooling member and a control module. The thermoelectric cooling member includes a first side connected to the heat conduction member and a second side in contact with the heat dissipation member. The control module is to control the first side of the thermoelectric cooling member to heat or cool. The tray is arranged in the housing and connected to the heat conduction member, and defines two compartments for placing pet food. The cover is arranged on the tray and defines a window in communication with the at least two compartments. The actuating mechanism is arranged in the housing and is to rotate the tray or the cover.

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：US12171188B2

公开(公告)日：2024-12-24

申请号：US17887536

申请日：2022-08-15

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Kexin Tian ,  Yangming Qian ,  Jin Li ,  Yanhui Chai

IPC: A01K1/01

Abstract: A pet litter device includes: a base configured to be placed on a support surface, the base defining a recessed portion that comprises a recess surface defining an opening, and a drum rotatably connected to the base and partly received in the recessed portion. The drum has an outer lateral surface. The recess surface and a portion of the outer lateral surface that faces the recess surface define a gap and form a passage in communication with the opening. The recess surface is to guide litter particles entering the passage to pass through the opening to fall on the support surface.

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.

公开(公告)号：US20240331173A1

公开(公告)日：2024-10-03

申请号：US18603100

申请日：2024-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： BAIYU PAN ,  Jianxin Pang

IPC: G06T7/50 ,  G06V10/77 ,  G06V10/82

CPC classification number: G06T7/50 ,  G06V10/7715 ,  G06V10/82 ,  G06T2207/20228

Abstract: A method for binocular depth estimation is provided, including: obtaining binocular images and performing feature extraction on the binocular images to obtain left and right feature mappings; performing disparity construction by using the left and right feature mappings to obtain a disparity cost volume with a reduced dimension; performing attention feature learning on the disparity cost volume to obtain an attention feature vector and performing feature weighting on the disparity cost volume by using the attention feature vector to obtain a weighted cost volume; performing disparity regression on the weighted cost volume based on a two-dimensional convolution to obtain a prediction disparity map; and performing disparity depth conversion on the prediction disparity map to obtain a depth map of the binocular images.