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：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：US20230398684A1

公开(公告)日：2023-12-14

申请号：US18236395

申请日：2023-08-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： JIAJUN WANG ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

CPC classification number: B25J9/1628 ,  B25J13/085 ,  B25J9/1607 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A method for detecting contact of a swinging leg of a robot with ground includes: obtaining a torque on each joint of the swinging leg when the robot is in a swing phase; estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot; and determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.

公开(公告)号：US11780085B2

公开(公告)日：2023-10-10

申请号：US17107966

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

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

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

CPC classification number: B25J9/163 ,  B25J9/1607 ,  B25J9/1633 ,  B25J9/1638 ,  B25J13/088 ,  B62D57/02 ,  B62D57/032

Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.

公开(公告)号：US20230294281A1

公开(公告)日：2023-09-21

申请号：US18200417

申请日：2023-05-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHE XU ,  Mingguo Zhao ,  Youjun Xiong

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

CPC classification number: B25J9/163 ,  B62D57/032 ,  B25J9/1633 ,  B25J9/1607 ,  B25J13/085

Abstract: A multi-legged robot load balancing method, a multi-legged robot, and a storage medium are provided. The method includes: calculating a current position and velocity of a load positioned on a torso according to a value measured by a force sensor; calculating, through a feedback control law, a desired posture of the torso required for keeping a balance of the load according to the current position and the current velocity of the load; determining an expected position of virtual joints according to the desired posture of the torso, and calculating, using a full dynamics control algorithm of the robot, a joint torque for each real joint of the robot according to the expected position; and transmitting the calculated joint torques to the corresponding real joints so that the torso is moved to reach the desired posture by moving the corresponding real joints.

公开(公告)号：US20220362929A1

公开(公告)日：2022-11-17

申请号：US17868790

申请日：2022-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yijie Guo ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

Abstract: A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.

公开(公告)号：US20220139027A1

公开(公告)日：2022-05-05

申请号：US17216719

申请日：2021-03-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xi Luo ,  Mingguo Zhao ,  Youjun Xiong

IPC: G06T15/20 ,  G06K9/00 ,  G06F30/20 ,  G06N3/08

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.

公开(公告)号：US20220009096A1

公开(公告)日：2022-01-13

申请号：US17138942

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Liqun Huang ,  Xiaoyu Ran ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  G06F17/16

Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

公开(公告)号：US20190217464A1

公开(公告)日：2019-07-18

申请号：US16212619

申请日：2018-12-06

Applicant: UBTECH Robotics Corp

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

IPC: B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  B25J13/08

CPC classification number: B25J9/0006 ,  B25J9/0009 ,  B25J9/1633 ,  B25J13/085 ,  B25J13/088 ,  B25J19/02 ,  B62D57/032

Abstract: A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.

公开(公告)号：US20240131702A1

公开(公告)日：2024-04-25

申请号：US18383950

申请日：2023-10-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： LIQUN HUANG ,  Xiaoyu Ren ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B25J18/00

CPC classification number: B25J9/1656 ,  B25J9/1679 ,  B25J13/085 ,  B25J18/00

Abstract: A method for controlling a robotic arm that includes an end effector and a sensor that are mounted at an end of the robotic arm includes: obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in a different poses, n≤3; determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses; calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the a rotation transformation matrices; and controlling the robotic arm based on the coordinates of the center of mass and the mass.