公开(公告)号：US20210221455A1

公开(公告)日：2021-07-22

申请号：US17092347

申请日：2020-11-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Hao Dong ,  Guoping Yang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B62D57/032

Abstract: The present disclosure provides a legged robot continuous hopping control method as well as a legged robot and a computer readable storage medium using the same. The method includes: dividing each of the phases into a desired entry stage, an actual entry stage, a during stage, and an exit and state transiting stage; detecting a transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase to obtain a corresponding state detecting result; updating state information of the robot based on the state detecting result; and controlling the robot to continuously hop by transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase according to the updated state information. In this manner, the stability of the continuous hopping of the legged robot can be greatly improved.

公开(公告)号：US20200209890A1

公开(公告)日：2020-07-02

申请号：US16587069

申请日：2019-09-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Yuesong Wang ,  Mingguo Zhao

IPC: G05D1/08 ,  B25J13/08 ,  B25J9/16

Abstract: The present disclosure provides a robot centroid position adjustment method as well as an apparatus and a robot using the same. The method includes: obtaining initial values; obtaining a waist velocity adjustment value; calculating a current value of the centroid position; and determining whether a current value of the centroid position is equal to the planning value of the centroid position; if the current value of the centroid position is not equal to the planning value of the centroid position, obtaining the current value of the centroid position to take as an initial value of a next centroid position and returning to the step of obtaining the waist velocity adjustment value until the current value of the centroid position is equal to the planning value of the centroid position. In such a manner, the balance ability of the robot can be improved.

公开(公告)号：US11872701B2

公开(公告)日：2024-01-16

申请号：US17485412

申请日：2021-09-25

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Yuesong Wang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1607 ,  G05D2201/0217

Abstract: A total centroid state estimation method as well as a humanoid robot and a computer readable storage medium using the same are provided. The method includes: obtaining a motion state of each real joint of the humanoid robot and a motion state of its floating base, where the floating base is equivalent to a plurality of sequent-connected virtual joints; calculating a joint position, a centroid position, and a rotation matrix of each link in the world coordinate system in sequence using the chain rule of homogeneous multiplication according to the position of the joint corresponding to the link to solve a Jacobian matrix of the centroid of the link; solving a total centroid Jacobian matrix based on the Jacobian matrix of the centroid of each link and the total mass; and calculating the total centroid velocity based on the total centroid Jacobian matrix and other parameters.

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.

公开(公告)号：US20210387340A1

公开(公告)日：2021-12-16

申请号：US17137382

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16

Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.

公开(公告)号：US11179855B2

公开(公告)日：2021-11-23

申请号：US16669551

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hao Dong ,  Youjun Xiong ,  Yuesong Wang ,  Mingguo Zhao

IPC: B25J13/08 ,  B25J9/16 ,  B25J17/02

Abstract: The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.

公开(公告)号：US11007639B2

公开(公告)日：2021-05-18

申请号：US16669554

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Youjun Xiong

IPC: B25J9/06 ,  B25J13/08 ,  B25J9/04 ,  B25J9/16 ,  B25J17/02

Abstract: The present disclosure provides a joint control method for a serial robot and a serial robot using the same. The method includes: performing a analysis on an end joint in the plurality of joints, and calculating the force of the previous joint acting on the end joint; performing a analysis on each of the other joints in the plurality of joints, and calculating the force of the previous joint acting on the joint; obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint; and projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a torque to be applied to the motor at a current time. In this manner, which improves the tracking precision of the end joint while reduces the tracking error.