公开(公告)号：US12053885B2

公开(公告)日：2024-08-06

申请号：US17561629

申请日：2021-12-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/02 ,  B62D57/032 ,  G05D1/08

CPC classification number: B25J9/1602 ,  B25J9/1633 ,  B62D57/02

Abstract: A robot control method includes: determining a planned capture point and a measured capture point of the robot so as to calculate a capture point error of the robot; obtaining positions of a left foot and a right foot of the robot, and a planned zero moment point (ZMP) of the robot so as to calculate desired support forces of the left foot and the right foot; calculating desired torques of the left foot and the right foot according to the capture point error, the desired support forces of the left foot and the right foot; obtaining measured torques of the left foot and the right foot so as to calculate desired poses of the left foot and the right foot; and controlling the robot to walk according to the desired poses of the left foot and the desired pose of the right foot.

公开(公告)号：US20230415333A1

公开(公告)日：2023-12-28

申请号：US18210026

申请日：2023-09-19

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1602 ,  G05B19/4155 ,  G05B2219/40244

Abstract: A center of mass (COM) planning method includes: obtaining a planning position of the COM and a planning speed of the COM of a robot, and calculating a planning capture point of the robot according to the planning position of the COM and the planning speed of the COM; obtaining a measured position of the COM and a measured speed of the COM, and calculating a measured capture point of the robot according to the measured position the measured speed; calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point; obtaining a measured ZMP of the robot, and calculating an amount of change in a position of the COM according to the desired ZMP and the measured ZMP; and correcting the planning position of the COM according to the amount of change in the position of the COM.

公开(公告)号：US11833692B2

公开(公告)日：2023-12-05

申请号：US17115712

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

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

CPC classification number: B25J9/1666 ,  B25J9/1605 ,  B25J9/1643 ,  G05B19/4155 ,  B25J13/08 ,  G05B2219/40269

Abstract: The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.

公开(公告)号：US20230381963A1

公开(公告)日：2023-11-30

申请号：US18201744

申请日：2023-05-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： MENG YAN ,  Chunyu Chen ,  Xuan Luo ,  Zhihao Zhang ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1694

Abstract: A robot control method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining first motion data, where the first motion data is human arm end motion data collected by a virtual reality device; obtaining second motion data by mapping the first motion data to a working space of an end of a robotic arm of the robot; obtaining a state of each joint of the robotic arm of the robot, and obtaining control data of the joint by performing a quadratic programming solving on the second motion data and the state of the joint; and controlling, by a motion controller of the robot, the robotic arm of the robot to move according to the obtained control data of each joint of the robot by transmitting the control data of the joint to the motion controller, so that the control method is relatively more natural, intuitive, and flexible.

公开(公告)号：US20230334893A1

公开(公告)日：2023-10-19

申请号：US18214467

申请日：2023-06-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： BIN SUN ,  Mingguo Zhao ,  Youjun Xiong

IPC: G06V10/80 ,  G06V40/10

CPC classification number: G06V40/103 ,  G06V10/806

Abstract: A method includes: obtaining heat maps including a predetermined number of key points of a human body; performing depth separable convolution on a feature map corresponding to one of the heat maps corresponding to each of the key points and a convolution kernel of a corresponding channel of the human body posture recognition model to determine a key point feature map corresponding to each channel of the human body posture recognition model; performing local feature fusion processing and/or global feature fusion processing on the key point feature map corresponding to each channel to obtain fusion posture feature maps; determining a linear relationship between the channels of the human body posture recognition model based on the fusion posture feature maps; and updating weight coefficients of the corresponding channels of the human body posture recognition model by using the linear relationship between the channels of the human body posture recognition model.

公开(公告)号：US11776288B2

公开(公告)日：2023-10-03

申请号：US17389380

申请日：2021-07-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yonghui Cai ,  Jun Cheng ,  Jianxin Pang ,  Youjun Xiong

IPC: G06N3/04 ,  G06V30/24 ,  G06V10/94 ,  G06T3/40 ,  G06F18/214

CPC classification number: G06V30/2504 ,  G06T3/4046 ,  G06V10/95 ,  G06F18/2148 ,  G06N3/04 ,  G06V2201/07

Abstract: A target object detection model is provided. The target object detection model includes a YOLOv3-Tiny model. Through the target object detection model, low-level information in the YOLOv3-Tiny sub-model can be merged with high-level information therein, so as to fuse the low-level information and the high-level information. Since the low-level information can be further used, the comprehensiveness of target detection is effectively improved, and the detection effect of small targets is improved.

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：US20230182307A1

公开(公告)日：2023-06-15

申请号：US17976904

申请日：2022-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHUNYU CHEN ,  Ligang Ge ,  Yizhang Liu ,  Jiangchen Zhou ,  Qiuhue Luo ,  Youjun Xiong

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

CPC classification number: B25J9/1692 ,  B62D57/032 ,  B25J9/1664 ,  B25J13/089

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：US20230182297A1

公开(公告)日：2023-06-15

申请号：US18070313

申请日：2022-11-28

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

CPC classification number: B25J9/1664 ,  B25J9/1607 ,  B25J9/1638 ,  B25J9/1651 ,  B25J13/088 ,  B62D57/032

Abstract: A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.

公开(公告)号：US20230158672A1

公开(公告)日：2023-05-25

申请号：US18052535

申请日：2022-11-03

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： YIZHANG LIU ,  Youjun Xiong ,  Xianwen Zeng ,  Zhihao Zhang ,  Meihui Zhang ,  Chunyu Chen

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/163

Abstract: A robot obstacle avoidance method, a robot controller using the same, and a storage medium are provided. The method includes: determining an influence value of an obstacle on a motion range of a joint of the robot according to a position of the obstacle in a workspace of the robot; establishing a state transition relationship of the robot by taking a joint velocity of the robot as a control target and a joint angular velocity of the robot as a control input quantity; and avoiding the robot from colliding with the obstacle during a movement process of the robot by performing a model predictive control on the robot according to the state transition relationship and the influence value. In the present disclosure, the influence of the obstacle on the motion range of the joint of the robot is fully considered.