公开(公告)号：US20210200224A1

公开(公告)日：2021-07-01

申请号：US17109099

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: G05D1/02 ,  B25J9/16 ,  B25J13/08 ,  B62D57/032

Abstract: The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.

公开(公告)号：US20210178588A1

公开(公告)日：2021-06-17

申请号：US17120229

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: A robot control method includes: obtaining force information associated with feet of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a position trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body; obtaining posture information of the robot; updating a posture trajectory of the robot according to the posture information to obtain an updated pose angle; performing inverse kinematics analysis on the updated position of the COM of the body and the updated pose angle to obtain joint angles of legs of the robot; and controlling the robot to move according to the joint angles.

公开(公告)号：US20240017404A1

公开(公告)日：2024-01-18

申请号：US18371472

申请日：2023-09-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1628

Abstract: A robot step length control method, a robot controller, and a computer-readable storage medium are provided. The method includes: if it detects that a humanoid robot is not in a balanced state at a current time, it correspondingly obtains a torso deflection posture parameter, a lower limb parameter and a leg swing frequency of the legs of the humanoid robot at the current time; and it calculates, using a swinging leg capture point algorithm, a calculated step length for maintaining a stable state of the humanoid robot that meets a posture balance requirement of the robot at the current time based on the torso deflection posture parameter, the lower limb parameter, and the leg swing frequency, so that the humanoid robot can be restored to the balanced state after moving with the calculated step length, thereby improving the anti-interference ability of the robot.

公开(公告)号：US20230202027A1

公开(公告)日：2023-06-29

申请号：US18090457

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHUNYU CHEN ,  Jie Bai ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1602 ,  B62D57/032

Abstract: A walking control method for a biped robot includes: detecting whether the biped robot is in an unbalanced state; in response to detection that the biped robot is in the unbalanced state, obtaining a predicted balance step length corresponding to the biped robot in the unbalanced state; performing a smooth transition processing on the predicted balance step length according to a current movement step length of the biped robot to obtain a desired balance step length corresponding to the predicted balance step length; determining a planned leg trajectory of the biped robot according to the desired balance step length; and controlling a current swing leg of the biped robot to move according to the planned leg trajectory.

公开(公告)号：US11602848B2

公开(公告)日：2023-03-14

申请号：US17120229

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

Abstract: A robot control method includes: obtaining force information associated with feet of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a position trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body; obtaining posture information of the robot; updating a posture trajectory of the robot according to the posture information to obtain an updated pose angle; performing inverse kinematics analysis on the updated position of the COM of the body and the updated pose angle to obtain joint angles of legs of the robot; and controlling the robot to move according to the joint angles.

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：US20210197379A1

公开(公告)日：2021-07-01

申请号：US17115712

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  G05B19/4155

Abstract: The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.

公开(公告)号：US20210181748A1

公开(公告)日：2021-06-17

申请号：US17120232

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

IPC: G05D1/02 ,  G01L5/16 ,  B62D57/02 ,  G05B19/4155

Abstract: A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

公开(公告)号：US20210146538A1

公开(公告)日：2021-05-20

申请号：US16734393

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Zhaohui An ,  Zheng Xie ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.

公开(公告)号：US20210107577A1

公开(公告)日：2021-04-15

申请号：US16724413

申请日：2019-12-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Xianwei Su ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

IPC: B62D57/02 ,  G01L5/16

Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.