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公开(公告)号：US11599118B2
公开(公告)日：2023-03-07
申请号：US17137429
申请日：2020-12-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Ligang Ge , Yizhang Liu , Youjun Xiong , Jianxin Pang
IPC: G05D1/02 , B62D57/032
Abstract: A gait planning method includes: performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, which includes: acquiring a first step length and a second step length at a beginning of each CoM timing period; calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length; calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length; and performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.
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142.发明授权公开(公告)号：US11579591B2
公开(公告)日：2023-02-14
申请号：US17088596
申请日：2020-11-04
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yuesong Wang , Xiaozhu Ju , Mingguo Zhao , Youjun Xiong
IPC: G05B19/4155 , B25J9/16 , G05B19/416
Abstract: A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints of the robot.
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公开(公告)号：US20230041272A1
公开(公告)日：2023-02-09
申请号：US17394416
申请日：2021-08-05
Inventor： David Ayllón Álvarez , Adam David King , Zhen Xiu , Huan Tan
Abstract: A method for facilitating a multiparty conversation is disclosed. An electronic device using the method may facilitate a multiparty conversation by identifying participants of a conversation, localizing relative positions of the participants, detecting speeches of the conversation, matching one of the participants to each of the detected speeches according to the relative positions of the participants, counting participations of the matched participant in the conversation, identifying a passive subject from all the participants according to the participations of all the participants in the conversation, finding a topic of the conversation between the participants, and engaging the passive subject by addressing the passive subject and speaking a sentence related to the topic.
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144.发明申请公开(公告)号：US20220392103A1
公开(公告)日：2022-12-08
申请号：US17488343
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhanjia Bi , Youjun Xiong
Abstract: A visual positioning method and a mobile machine using the same are provided. The method includes: extracting a plurality of corner feature points corresponding to a current image; determining whether a distance between each pair of the plurality of corner feature points is less than a first preset threshold; if yes, determining whether a grayscale value of each of the plurality of corner feature points with the distance less than the first preset threshold is within a second preset threshold range; if yes, obtaining cluster set(s) of the corner feature points; screening a plurality of valid feature points from the cluster set(s); determining a positioning reliability based on a ratio of amount of the valid feature points to an amount of the plurality of corner feature points; and if the positioning reliability is within a preset range, performing a visual positioning based on the positioning reliability.
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公开(公告)号：US11518042B2
公开(公告)日：2022-12-06
申请号：US16870903
申请日：2020-05-09
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chengkun Zhang , Marten Byl , Muhammed Rasid Pac , Raymond Ma , Luis Alfredo Mateos Guzman , Won Suk You , Huan Tan , Youjun Xiong
IPC: B25J9/00 , B25J11/00 , B25J5/00 , B65G1/02 , B65G61/00 , B25J9/16 , B25J9/10 , B25J9/12 , B25J19/00 , B25J19/02 , G05D1/02
Abstract: A robotic assistant includes a wheeled base, a storage unit including drawers, a foldable arm connected to a top of the storage unit and including an end of arm tooling (EOAT) connected to a distal end of the foldable arm, an elevation mechanism positioned on the wheeled base and used to move the storage unit up and down, and a control system that receives command instructions. In response to the command instructions, the control system is configured to move the wheeled base, open or close the one or more drawers, actuate movement of the foldable arm and the EOAT to pick up and place external objects from/to a determined location, and control the storage unit to move up/down.
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Patent Agency Ranking
公开(公告)号：US20220337669A1
公开(公告)日：2022-10-20
申请号：US17230762
申请日：2021-04-14
Inventor： Kang-Hao PENG , Dejun GUO , Huan TAN
Abstract: Embodiments of the disclosure provide methods and systems for implementing a function for an application using a middleware on a computer. An exemplary method may include initializing an application node in the middleware corresponding to the application, the initializing comprising binding the function to the application node and associating the application node with a cryptor, connecting the middleware to a remote device through a transport layer using the cryptor, publishing a message to invoke the function from the application node, through the middleware, to the cryptor, and communicating with the remote device to invoke the function, using the cryptor, based on the message.
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公开(公告)号：US11474204B2
公开(公告)日：2022-10-18
申请号：US16699765
申请日：2019-12-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhichao Liu , Jian Zhang , Youjun Xiong , Jianxin Pang
IPC: G01S7/48 , G01S17/931 , G06K9/62
Abstract: The present disclosure provides a localization method as well as a robot using the same. The method includes: obtaining laser scan points and particles; mapping each of the laser scan points to a global coordinate system based on each of the particles to obtain global boundary points of each of the particles; finding a matching boundary point in the global boundary points by comparing the global boundary points of the particle with points corresponding to static objects in a known map; calculating a distance between the matching boundary point of the particle and the points corresponding to the static objects, and increasing a weight of the matching boundary point if the distance is less than a preset threshold; calculating a weight of the particle by matching the global boundary points of the particle with the known map; and estimating a localization result.
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公开(公告)号：USD966383S1
公开(公告)日：2022-10-11
申请号：US29797052
申请日：2021-06-29
Designer： Francisco Jose Hernandez , Brandon Jon LaPlante , Shixun Chen , Jiexin Cai , ChengKun Zhang , Huan Tan
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公开(公告)号：USD966382S1
公开(公告)日：2022-10-11
申请号：US29796579
申请日：2021-06-25
Designer： Shixun Chen , Jianchi Xiong , ChengKun Zhang , Huan Tan
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150.发明授权公开(公告)号：US11461958B2
公开(公告)日：2022-10-04
申请号：US17216719
申请日：2021-03-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xi Luo , Mingguo Zhao , Youjun Xiong
Abstract: A scene data obtaining method as well as a model training method and a computer readable storage medium using the same are provided. The method includes: building a virtual simulation scene corresponding to an actual scene, where the virtual simulation scene is three-dimensional; determining a view frustum corresponding to preset view angles in the virtual simulation scene; collecting one or more two-dimensional images in the virtual simulation scene and ground truth object data associated with the one or more two-dimensional images using the view frustum corresponding to the preset view angles; and using all the two-dimensional images and the ground truth object data associated with the one or more two-dimensional images as scene data corresponding to the actual scene. In this manner, the data collection does not require manual annotation, and the obtained data can be used for training deep learning-based perceptual models.
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