公开(公告)号：US20220184807A1

公开(公告)日：2022-06-16

申请号：US17137431

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Chunyu Chen ,  Ligang Ge ,  Yizhang Liu ,  Youjun Xiong

IPC: B25J9/16

Abstract: The present disclosure provides a humanoid gait control method, device, apparatus and storage medium of humanoid robots. The method includes: obtaining a first vector from a virtual centroid to an ankle joint of a left leg of the humanoid robot at a current moment and a second vector from the virtual centroid to an ankle joint of a right leg at the current moment, and obtaining an original planning value of the virtual centroid of the current moment of the humanoid robot; determining a height of the target virtual centroid of the humanoid robot after the virtual centroid is reduced at the current moment according to the first vector, the second vector, the original planning value of the virtual centroid and a preset virtual centroid height reduction algorithm; and controlling the humanoid robot to walk on straight knees according to the height of the target virtual centroid.

公开(公告)号：US12226903B2

公开(公告)日：2025-02-18

申请号：US17732568

申请日：2022-04-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Qiuyue Luo ,  Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Jie Bai

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

Abstract: A method for controlling gait of a biped robot includes: collecting a lateral center of mass (CoM) speed and a lateral CoM position of the biped robot when the biped robot walks in place; calculating phase variables of virtual constraints corresponding to the CoM of the biped robot in a first phase and a second phase according to the lateral CoM speed and the lateral CoM position; constructing motion trajectory calculation equations for the biped robot based on the phase variables corresponding to the first phase and the second phase, respectively; and finding inverse solutions for joints of the biped robot using the motion trajectory calculation equations to obtain joint angles corresponding to each of the joints of the biped robot to realize gait control.

公开(公告)号：US12005584B2

公开(公告)日：2024-06-11

申请号：US17488341

申请日：2021-09-29

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1653 ,  B25J9/1607 ,  B25J9/1664 ,  B25J13/088

Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.

公开(公告)号：US11983012B2

公开(公告)日：2024-05-14

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: G05D1/00 ,  B62D57/032

CPC classification number: G05D1/0214 ,  G05D1/0231 ,  B62D57/032

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：US11926056B2

公开(公告)日：2024-03-12

申请号：US17678030

申请日：2022-02-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Yizhang Liu ,  Ligang Ge ,  Chunyu Chen ,  Qiuyue Luo ,  Youjun Xiong

IPC: G06F17/00 ,  B25J9/16

CPC classification number: B25J9/1664

Abstract: A gait planning method and a robot using the same as well as a computer readable storage medium are provided. The method includes: determining a reference leg length l0 and a leg length variation range A of a robot; performing a trajectory planning on a length of at least one of the legs of the robot using; an equation including the reference leg length, the leg length variation range, and a preset recurrent excitation function of a time variable t. In this manner, the trajectory planning for the leg length of the robot during motion is performed according to the characteristics of motion scene such as robot jumping or running so that the change of the leg length of the robot is adapted to the motion process, which greatly improves the stability of the robot in the motion scene such as jumping or running.

公开(公告)号：US11560192B2

公开(公告)日：2023-01-24

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 ,  G05D1/08 ,  B25J9/16 ,  G06F17/18 ,  B25J19/02

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：US12280510B2

公开(公告)日：2025-04-22

申请号：US17678037

申请日：2022-02-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Youjun Xiong ,  Yizhang Liu ,  Qiuyue Luo ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou

IPC: B62D57/00 ,  B25J9/16 ,  B62D57/032

Abstract: A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.

公开(公告)号：US12138803B2

公开(公告)日：2024-11-12

申请号：US18089588

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou ,  Qiuyue Luo ,  Youjun Xiong

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

Abstract: A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.

公开(公告)号：US12070856B2

公开(公告)日：2024-08-27

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 ,  G05B19/41 ,  G05B19/4155

CPC classification number: B25J9/1605 ,  B25J9/1633 ,  B62D57/022 ,  G05B19/4155 ,  G05B2219/50391

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.