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公开(公告)号：US20210370522A1
公开(公告)日：2021-12-02
申请号：US17216716
申请日：2021-03-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Zhaohui An , Weizhi Shi , Youjun Xiong
Abstract: A thumb structure includes a proximal phalanx, a distal phalanx rotatably connected to one end of the proximal phalanx, a fixing member connected to the proximal phalanx through a first ball joint, a linking member having opposite ends that are connected to the distal phalanx and the fixing member through a second ball joint and a third ball joint, a first actuating assembly to drive the proximal phalanx to swing in a direction of a first degree of freedom, and a second actuating assembly to drive the proximal phalanx to swing in a direction of a second degree of freedom.
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公开(公告)号：US11061407B2
公开(公告)日：2021-07-13
申请号：US16231512
申请日：2018-12-23
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Zheng Xie , Chunyu Chen , Yizhang Liu , Ligang Ge
IPC: G05D1/02
Abstract: The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.
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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.
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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
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.
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公开(公告)号：US11022983B2
公开(公告)日：2021-06-01
申请号：US16172838
申请日：2018-10-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Ligang Ge , Chunyu Chen , Yizhang Liu , Zheng Xie , Zhaohui An , Jinghua Tang
Abstract: The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning an initial position of an ankle joint of the biped robot and a rotation angle of a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.
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Patent Agency Ranking
公开(公告)号：USD911459S1
公开(公告)日：2021-02-23
申请号：US29661705
申请日：2018-08-30
Applicant: UBTECH Robotics Corp
Designer： Youjun Xiong , Huaqiang Lu , Yiping Li , Tao Xu , Sixin Li , Xinshui Huang , Meichun Liu , Qidong Xu , Youpeng Li , Da Li , Xue Yang , Zheng Xie , Qiuhong Shi
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17.发明公开公开(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.
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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.
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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
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.
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公开(公告)号：US11550335B2
公开(公告)日：2023-01-10
申请号：US16753408
申请日：2018-11-28
Applicant: UBTECH ROBOTICS CORP.
Inventor： Youjun Xiong , Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Jianxin Pang
IPC: B62D57/032 , G05D1/02
Abstract: The present disclosure discloses a biped robot and its moving method and apparatus. The method includes: calculating a motion state of each servo of legs of a biped robot according to an actual trajectory of the biped robot, and controlling the servo to rotate to the corresponding motion state. The scheme enables the biped robot to achieve flexible controls to the biped robot according to the received real-time external feedbacks.
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