公开(公告)号：US20210197909A1

公开(公告)日：2021-07-01

申请号：US17134202

申请日：2020-12-25

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： Liang Huang ,  Hongyu Ding ,  Jianxin Pang ,  Youjun Xiong

IPC: B62D57/032 ,  B25J17/00 ,  B25J13/08

Abstract: A leg mechanism of a humanoid robot includes: an upper leg, a lower leg rotatably coupled to the upper leg, a knee module actuator mounted to the upper leg, a foot rotatably connected to the lower leg, a knee transmission mechanism connected to the knee module actuator and the lower leg and configured to transmit rotary motion from the knee module actuator to the lower leg, at least one ankle module actuator mounted to the upper leg, at least one ankle transmission mechanism connected to the at least one ankle module actuator and the foot and configured to transmit rotary motion from the at least one ankle module actuator to the foot.

公开(公告)号：US20210197367A1

公开(公告)日：2021-07-01

申请号：US17133656

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/02

Abstract: The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.

公开(公告)号：US20210187731A1

公开(公告)日：2021-06-24

申请号：US16817576

申请日：2020-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZECAI LIN ,  Zhaohui An ,  Yizhang Liu ,  Mekhui Zhang ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/06

Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.

公开(公告)号：US20210183116A1

公开(公告)日：2021-06-17

申请号：US17075727

申请日：2020-10-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rui Guo ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: G06T11/00 ,  G06T3/00 ,  G06T7/13 ,  G06T7/70 ,  G06T7/90 ,  G01C21/00

Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.

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：US20210166416A1

公开(公告)日：2021-06-03

申请号：US17107860

申请日：2020-11-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Shuping Hu ,  Jun Cheng ,  Jingtao Zhang ,  Miaochen Guo ,  Dong Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: G06T7/73 ,  B25J9/16 ,  G06T7/12 ,  G06T7/50

Abstract: A robot climbing control method is disclosed. The method obtains an RGB color image and a depth image of stairs, extracts an outline of a target object of a target step on the stairs from the RGB color image, determines relative position information of the robot and the target step according to the depth image and the outline of the target object, and controls the robot to climb the target step according to the relative position information. The embodiment of the present disclosure allows the robot to effectively adjust postures and forward directions on any size of and non-standardized stairs and avoids the deviation of the walking direction, thereby improving the effectiveness and safety of the stair climbing of the robot.

公开(公告)号：US20210134268A1

公开(公告)日：2021-05-06

申请号：US17006936

申请日：2020-08-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rixing Huang ,  Youjun Xiong

IPC: G10L15/06 ,  G10L15/18 ,  G10L19/16 ,  G10L25/30 ,  G10L25/84

Abstract: A computer-implemented method for utterance generation, a smart device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a first utterance to be answered, generating at least one random semantic vector, inputting the at least one random semantic vector and the first utterance into a trained generator, and obtaining at least one first answer outputted by the trained generator, wherein the trained generator is obtained based on a preset generative adversarial network. Due to the random semantic vector, even for the same utterance, the smart device can generate different answers corresponding to the different random semantic vectors, the possibility of generating too many identical answers during the human-machine conversation is reduced, and the fun during the human-machine conversation is enhanced.

公开(公告)号：US20210129341A1

公开(公告)日：2021-05-06

申请号：US16727948

申请日：2019-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： HONGJIAN LIU ,  Zhichao Liu ,  Jian Zhang ,  Simin Zhang ,  Zhanjia Bi ,  Youjun Xiong

IPC: B25J9/16

Abstract: The present disclosure relates to robot technology, and particularly to a robot localization method as well as an apparatus and a robot using the same. The method includes: obtaining a set of particles for localizing the robot; updating a position of each particle in the set of particles based on a preset motion model to obtain the updated position of the particle; obtaining laser measurement data and UWB measurement data; calculating a matching probability of each particle based on the laser measurement data, the UWB measurement data, and the updated position of the particle; and localizing the robot based on the matching probability of each particle. In such a manner, the UWB measurement data is applied to the traditional particle filtering localization algorithm based on laser measurement data so as to enhance the localization precision in large indoor scenes.

公开(公告)号：US20210086096A1

公开(公告)日：2021-03-25

申请号：US16727949

申请日：2019-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XIONGYUAN FANG ,  Youjun Xiong ,  Tao Bai

IPC: A63H33/06 ,  A63H33/08

Abstract: A building block includes at least one of a plug portion and a socket portion. The plug portion has two cantilevered tongues deflectable toward each other. Each cantilevered tongue includes a first engaging portion. The socket portion defines a chamber and has two second engaging portions. The plug portion and the socket portion are configured in such a way that the plug portion of one building block is insertable into the chamber of the socket portion of another building block, and the two cantilevered tongues of the building block deflect toward each other after insertion of the plug portion of the building block into the chamber of the socket portion of the other building block, which allows the first engaging portions of the building block to be engaged with the second engaging portions of the other building block, thereby connecting the two building blocks together.