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：US20240198532A1

公开(公告)日：2024-06-20

申请号：US18518960

申请日：2023-11-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： MENG YAN ,  Chunyu Chen ,  Jiangchen Zhou ,  Lihua Lu

IPC: B25J9/16

CPC classification number: B25J9/1689

Abstract: A method for robot telcoperation control is provided. The method includes acquiring target action data and displacement data of a target object, wherein the target action data includes head action data and arm action data; controlling a target robot to act according to the target action data to enable the target robot to complete an action corresponding to the target action data; and performing centroid trajectory planning on the target robot based on a model predictive control (MPC) algorithm according to the displacement data to obtain a target centroid trajectory, and establishing a spring-damping system to track the target centroid trajectory so as to enable the target robot to move to a position corresponding to the displacement data.

公开(公告)号：US20230234655A1

公开(公告)日：2023-07-27

申请号：US18091327

申请日：2022-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Liu ,  Qiuyue Luo ,  Chunyu Chen ,  Xuan Luo ,  Jiangchen Zhou

IPC: B62D57/032 ,  G05D1/02 ,  B25J17/00

CPC classification number: B62D57/032 ,  G05D1/0212 ,  B25J17/00 ,  G05D2201/0217

Abstract: A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.

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：US20220206501A1

公开(公告)日：2022-06-30

申请号：US17462019

申请日：2021-08-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xingxing Ma ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Hongge Wang ,  Jie Bai ,  Jiangchen Zhou ,  Zheng Xie

IPC: G05D1/02 ,  B25J9/16

Abstract: A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated. By continuously adjusting the preset displacement angle, each landing point position is calculated accordingly, and the valid landing point positions are recorded in the footprint set, which provides more feasible landing points for navigation planning.

公开(公告)号：US12275152B2

公开(公告)日：2025-04-15

申请号：US18071462

申请日：2022-11-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Lìu ,  Chunyu Chen ,  Qiuyue Luo ,  Jiangchen Zhou ,  Meng Yan ,  Youjun Xiong

IPC: G05B19/4155 ,  B25J9/16

Abstract: A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.

公开(公告)号：US12257725B2

公开(公告)日：2025-03-25

申请号：US17976904

申请日：2022-10-31

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 jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.

公开(公告)号：US12103187B2

公开(公告)日：2024-10-01

申请号：US17516729

申请日：2021-11-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xingxing Ma ,  Chunyu Chen ,  Ligang Ge ,  Yizhang Liu ,  Hongge Wang ,  Jie Bai ,  Zheng Xie ,  Jiangchen Zhou ,  Meihui Zhang ,  Shuo Zhang ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/032 ,  G05D1/43 ,  G05D1/622 ,  G05D1/644 ,  G05D109/12

CPC classification number: B25J9/1666 ,  B62D57/032 ,  G05D1/43 ,  G05D1/637 ,  G05D1/644 ,  G05D2109/12

Abstract: A path planning method and a biped robot using the same are provided. The method includes: generating a candidate node set for a next foot placement based on a biped robot's own parameters and joint information of a current node, adding valid candidate nodes in the candidate node set to a priority queue so as to select optimal nodes for realizing next node expansion. These optimal nodes are output to generate a foot placement sequence from an initial node to a target node, which can greatly reduce the search amount for path nodes when the robot's legs intersect and touch the ground, thereby improving the efficiency of path planning.

公开(公告)号：US20230182307A1

公开(公告)日：2023-06-15

申请号：US17976904

申请日：2022-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHUNYU CHEN ,  Ligang Ge ,  Yizhang Liu ,  Jiangchen Zhou ,  Qiuhue Luo ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/032 ,  B25J13/08

CPC classification number: B25J9/1692 ,  B62D57/032 ,  B25J9/1664 ,  B25J13/089

Abstract: A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.

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.