公开(公告)号：US20180186008A1

公开(公告)日：2018-07-05

申请号：US15641232

申请日：2017-07-04

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Xiaochu Zhong ,  Kai Xu

IPC: B25J13/00 ,  H04R1/02 ,  H04R3/00 ,  B25J19/02

CPC classification number: B25J13/003 ,  B25J19/00 ,  B25J19/026 ,  H04R1/028 ,  H04R3/00 ,  H04R2400/00 ,  H04R2420/07 ,  Y10S901/01

Abstract: The present disclosure relates to a Bluetooth speaker, including: an interface unit, a processor, a Bluetooth unit configured to receive and transmit audio signals, and a speaker. One end of the interface unit is configured to connect to a main controller of the robot and another end of the interface unit is configured to connect to the processor. The processor further connects to the Bluetooth unit. The Bluetooth unit connects to the speaker. The present disclosure may be implemented in robots to have more fan and improve user experience.

公开(公告)号：US20180169534A1

公开(公告)日：2018-06-21

申请号：US15460240

申请日：2017-03-16

Applicant: UBTECH Robotics Corp.

Inventor： Youjun Xiong ,  Dingkai Xing ,  Yumiao Wu ,  Lefeng Liu

IPC: A63H18/02 ,  A63H33/08

CPC classification number: A63H33/042

Abstract: The present disclosure relates to a building block set including at least two building components that can be built together to form at least one track. The building block set includes a base, fixing brackets, and a partition sheet. Each fixing bracket includes a pair of supporting sheets facing each other, a pivot shaft connected between the two supporting sheets, and two hook-shaped portions respectively extending from the supporting sheets along a direction away from the pivot shaft.

公开(公告)号：US20180126549A1

公开(公告)日：2018-05-10

申请号：US15458976

申请日：2017-03-15

Applicant: UBTECH Robotics Corp.

Inventor： Wei He ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/16 ,  B25J9/161 ,  G05B2219/33105 ,  G05B2219/33126

Abstract: A method for setting device identification includes: a main control circuit sending a first identification to a first device coupled to the main control circuit to set the first identification on the first device. The main control circuit sends a second identification to a second device coupled to the main control circuit to set the second identification on the second device. The first identification is different from the second identification when the kind of the first device is the same as that of the second device, and the first identification is the same as or different from the second identification when the kind of the first device is different from that of the second device. A main control circuit and a robot for performing the setting method are also provided.

公开(公告)号：US20180004190A1

公开(公告)日：2018-01-04

申请号：US15342143

申请日：2016-11-03

Applicant: UBTECH Robotics Corp.

Inventor： TINGSHUANG HUANG ,  Youjun Xiong

IPC: G05B19/4093

CPC classification number: H02P31/00 ,  G05B19/102 ,  G05B19/4093 ,  G05B19/4142 ,  G05B19/4144 ,  G05B2219/21053 ,  G05B2219/32127 ,  G05B2219/34013 ,  G05B2219/34027 ,  G05B2219/34236 ,  G05B2219/34244 ,  G05B2219/34245 ,  H01H9/54 ,  H02K11/35

Abstract: A servo actuator default disconnected ID setting method is performed by a servo actuator controlling system, which includes a plurality of servo actuators. A first message is broadcasted which indicates that an original ID is replaced with a non-default-disconnected to the plurality of servo actuators. The original ID of each actuator is replaced with the non-default-disconnected according to the first message. A second message is broadcasted which indicates that the non-default-disconnected ID is replaced with a default disconnected ID. And the non-default-disconnected ID of each servo actuator is replaced with the default disconnected ID according to the second message.

公开(公告)号：US09815192B1

公开(公告)日：2017-11-14

申请号：US15394745

申请日：2016-12-29

Applicant: UBTECH Robotics Corp.

Inventor： Xuchao Du ,  Lefeng Liu ,  Hongyu Ding ,  Wenquan Shu ,  Youjun Xiong

IPC: F16H57/08 ,  B25J9/12 ,  F16H1/20 ,  F16H1/28 ,  F16H37/04

CPC classification number: B25J9/126 ,  B25J9/102 ,  F16H1/203 ,  F16H1/28 ,  F16H37/041

Abstract: A servo and a robot with the servo are provided. The servo comprises a power input apparatus with a first output shaft, a deceleration apparatus, and a power output mechanism. The deceleration apparatus comprises a first-stage deceleration mechanism and a second-stage deceleration mechanism. The power output mechanism comprises a second output shaft and an output bearing fixedly installed on the second output shaft, wherein the second output shaft is an external spline output shaft. Through the external spline output shaft and the output bearing disposed on the power output mechanism, the servo could directly connect with an exterior component through the external spline output shaft, and the strength is improved. As a result, the friction between the servo and the exterior component is reduced, and the lifetime is therefore increased.

公开(公告)号：US12275152B2

公开(公告)日：2025-04-15

申请号：US18071462

申请日：2022-11-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Lìu ,  Chunyu Chen ,  Qiuyue Luo ,  Jiangchen Zhou ,  Meng Yan ,  Youjun Xiong

IPC: G05B19/4155 ,  B25J9/16

Abstract: A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.

公开(公告)号：US12257725B2

公开(公告)日：2025-03-25

申请号：US17976904

申请日：2022-10-31

Applicant: UBTECH ROBOTICS CORP LTD

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

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

Abstract: A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.

公开(公告)号：US12233550B2

公开(公告)日：2025-02-25

申请号：US17994394

申请日：2022-11-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xianwen Zeng ,  Yizhang Liu ,  Youjun Xiong

IPC: B25J9/16

Abstract: A robot control method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining a linear motion model of a robot; determining a predicted state corresponding to each moment in a preset time period based on the linear motion model; determining an expected state corresponding to each moment in the preset time period; and determining a compensation value of a velocity of joint(s) at each moment from k-th moment to k+N−1-th moment based on the predicted state corresponding to each moment in the preset time period and the expected state corresponding to each moment in the preset time period, determining instruction parameter(s) at the k-th moment based on the compensation value of the velocity of the joint(s) at the k-th moment, and adjusting a position of each of the joint(s) of the robot according to the instruction parameter(s) at the k-th moment.

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：US12097621B2

公开(公告)日：2024-09-24

申请号：US17726548

申请日：2022-04-22

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B62D57/032 ,  G06F11/10 ,  G06F17/10 ,  G06F30/17 ,  G06F30/20

CPC classification number: B25J9/1664

Abstract: A method for generating a center of mass (CoM) trajectory includes determining an actual pose of a center of mass (CoM), a pose of a left foot, and a pose of a right pose of a robot; determining a first pose tracking vector of the robot according to the actual pose of the CoM and the pose of the left foot, and determining a second pose tracking vector of the robot according to the actual pose of the CoM and the pose of the right foot; and controlling a desired pose of the CoM of the robot to alternately track the pose of the left foot and the pose of the right foot, according to the first pose tracking vector and the second pose tracking vector, so as to generate a desired CoM trajectory of the robot.