公开(公告)号：US20210331753A1

公开(公告)日：2021-10-28

申请号：US16885227

申请日：2020-05-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： JIE BAI ,  Ligang Ge ,  Hongge Wang ,  Yizhang Liu ,  Shuping Hu ,  Jianxin Pang ,  Youjun Xiong

IPC: B62D57/02 ,  B25J9/16 ,  B25J19/02 ,  G05D1/08 ,  G06F17/18

Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.

公开(公告)号：US20210181765A1

公开(公告)日：2021-06-17

申请号：US17114526

申请日：2020-12-08

Applicant: Ubtech Robotics Corp Ltd

Inventor： Jie Bai ,  Ligang Ge ,  Yizhang Liu ,  Hongge Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: G05D1/08 ,  B62D57/02 ,  G05D1/02 ,  G05B19/4155

Abstract: A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.

公开(公告)号：US20210178587A1

公开(公告)日：2021-06-17

申请号：US17120225

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

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

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

Abstract: A robot 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 COM of a body of the robot based on the force information; updating a motion 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; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of a left leg and a right leg of the robot; and controlling the robot to move according to the joint 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：US11691284B2

公开(公告)日：2023-07-04

申请号：US17120225

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

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

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

CPC classification number: B25J9/1664 ,  B25J9/1651 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088 ,  B62D57/032

Abstract: A robot 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 COM of a body of the robot based on the force information; updating a motion 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; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of a left leg and a right leg of the robot; and controlling the robot to move according to the joint angles.

公开(公告)号：US11602843B2

公开(公告)日：2023-03-14

申请号：US16932872

申请日：2020-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Yizhang Liu ,  Hongge Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J5/00

Abstract: The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.

公开(公告)号：US20220203534A1

公开(公告)日：2022-06-30

申请号：US17516729

申请日：2021-11-02

Applicant: UBTECH ROBOTICS CORP LTD

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

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

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：US20220194500A1

公开(公告)日：2022-06-23

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

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：US20220193896A1

公开(公告)日：2022-06-23

申请号：US17557076

申请日：2021-12-21

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B62D57/02 ,  G05B19/4155

Abstract: A robot balance control method as well as a robot using the same and a computer readable storage medium are provided. In the method, a brand new flywheel model different from the existing flywheel model is created. In this flywheel model, the foot of the support leg of the robot is equivalent to the massless link of the flywheel model, while rest parts of the robot are equivalent to the flywheel of the flywheel model. Compared with the various models in the prior art, this flywheel model is more in line with the actual situation of the robot during the monoped supporting period. By controlling the posture of the foot of the support leg based on this flywheel model, a better balance effect can be achieved, which avoids the overturning of the robot.

公开(公告)号：US20220152827A1

公开(公告)日：2022-05-19

申请号：US17314039

申请日：2021-05-06

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xingxing Ma ,  Chunyu Chen ,  Ligang Ge ,  Hongge Wang ,  Mingqiang Huang ,  Jiangchen Zhou ,  Yizhang Liu ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16

Abstract: A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.