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    Construction set block
    212.
    外观设计
    Construction set block 有权

    公开(公告)号：USD810208S1

    公开(公告)日：2018-02-13

    申请号：US29576353

    申请日：2016-09-02

    Applicant: UBTECH Robotics Corp.

    Designer： Lefeng Liu ,  Yumiao Wu ,  Dingkai Xing ,  Xiongyuan Fang ,  Xinpu Chen

    Abstract: The invention discloses a toy building element. The toy building element comprises an element body and two first connecting pieces, wherein the element body comprises a first connecting arm, a second connecting arm and a third connecting arm which are integrally formed; the first connecting arm and the third connecting arm are oppositely arranged in parallel, and are perpendicular to the second connecting arm; each first connecting piece comprises a left side plate, a right side plate, a rear side plate, a bottom plate and a top plate; one first connecting piece is arranged on the first connecting arm, and the outer surface of the top plate of the first connecting piece is flush with the inner surface of the first connecting arm; the bottom plate of the other first connecting piece is arranged on the second connecting arm; the left side plate, the right side plate, the rear side plate, the bottom plate and the top plate are matched to form a containing groove, and an opening is formed in one face, opposite to the rear side plate, of the containing groove; each containing groove comprises a plate groove and a column groove; the column groove is provided with limiting clamping bulges or limiting clamping grooves matched with each other. The toy building element is matched with another toy building element through the two first connecting pieces, so that the connection of the two toy building elements is realized, and the assembly is convenient.

    Trajectory planning method, computer-readable storage medium, and robot
    217.
    发明授权
    Trajectory planning method, computer-readable storage medium, and robot 有权

    公开(公告)号：US12292738B2

    公开(公告)日：2025-05-06

    申请号：US18222448

    申请日：2023-07-16

    Applicant: UBTECH ROBOTICS CORP LTD

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

    IPC: B25J11/00 ,  B25J9/10 ,  G05D1/00

    Abstract: A trajectory planning method, a computer-readable storage medium, and a robot are provided. The method includes: constructing a phase variable of a trajectory planning of a robot, where the phase variable is a function of two position components of a torso of the robot on a horizontal plane; and performing, using the phase variable replacing a time variable, the trajectory planning on a swinging leg of the robot in each preset coordinate axis direction. In this manner, the robot can no longer continue to follow the established trajectory after being disturbed by the environment, but make state adjustments according to the disturbance received to offset the impact of the disturbance, thereby maintaining walking stability and avoiding the problem of early or late landing of the swinging leg.

    Robot control method, computer-readable storage medium, and robot
    219.
    发明授权
    Robot control method, computer-readable storage medium, and robot 有权

    公开(公告)号：US12285871B2

    公开(公告)日：2025-04-29

    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

    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.

    Robot control method, robot and computer-readable storage medium
    220.
    发明授权
    Robot control method, robot and computer-readable storage medium 有权

    公开(公告)号：US12285870B2

    公开(公告)日：2025-04-29

    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

    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.

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