公开(公告)号：US11654557B2

公开(公告)日：2023-05-23

申请号：US17198167

申请日：2021-03-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/1607 ,  B25J13/085 ,  B25J13/089 ,  G05B2219/37091 ,  G05B2219/50391

Abstract: A direct force feedback control method as well as a controller and a robot using the same are provided. The method includes: obtaining an actual position and an actual speed of an end of the robotic arm and an actual external force acting on the end in a Cartesian space; calculating an impedance control component of the end in the Cartesian space based on the obtained actual position, the obtained actual speed, the obtained actual external force, an expected position, an expected speed, and an expected acceleration of the end; calculating a force control component of the end in the Cartesian space based on an expected interaction force acting on the end, the actual external force, and the actual speed; determining whether the actual external force is larger than a preset threshold, and obtaining a total force control quantity of the end of the robotic arm in the Cartesian space.

公开(公告)号：US11654551B2

公开(公告)日：2023-05-23

申请号：US17134565

申请日：2020-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Liqun Huang ,  Xiaoyu Ren ,  Yuesong Wang ,  Youjun Xiong

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

CPC classification number: B25J9/1607 ,  B25J9/023 ,  B25J9/1643 ,  B25J9/1651 ,  B25J13/085 ,  B25J9/1666 ,  B25J9/1676

Abstract: The present disclosure provides a redundant robotic arm control method, a redundant robotic arm, and a computer readable storage medium. The method includes: obtaining an external force acting on an end of the robotic arm and an external torque acting on each joint; calculating a first joint speed of each joint based on a degree of influence of the joint on the end in each motion dimension and the external force acting on the end; determining a zero space speed of each joint corresponding to a current position of the end based on a link torque of an external force acting on a link with respect to the joint; calculating a total joint speed based on the first joint speed and the zero space speed; and controlling the robotic arm to the move according to the total joint speed.

公开(公告)号：US20230133934A1

公开(公告)日：2023-05-04

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：US11639005B2

公开(公告)日：2023-05-02

申请号：US17326259

申请日：2021-05-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Kunlei Zhao ,  Zheng Xie ,  Weizhi Shi ,  Minghua Chen ,  Zhaohui An ,  Youjun Xiong

IPC: B25J15/00 ,  B25J9/12 ,  B25J15/02

Abstract: A robotic finger structure includes a proximal phalanx; a middle phalanx rotatably connected to one end of the proximal phalanx; a distal phalanx rotatably connected to one end of the middle phalanx and defining a distal phalanx opening in a front side thereof and at one end adjacent to the middle phalanx; a connecting rod having opposite ends that are rotatably connected to the proximal phalanx and the distal phalanx, and an actuating assembly to drive the middle phalanx to rotate with respect to the proximal phalanx. The connecting rod includes a first angled segment having a first recess facing a back side of the middle phalanx. When the distal phalanx is flush with the middle phalanx, the first angled segment passes through the distal phalanx opening, and a first end of the distal phalanx opening extends into the first recess.

公开(公告)号：US11618173B2

公开(公告)日：2023-04-04

申请号：US16854856

申请日：2020-04-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jian Li ,  Hongyu Ding ,  Youpeng Li ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J17/00 ,  H02K11/215 ,  H02K11/22 ,  F16H49/00 ,  F16H57/02 ,  H02K7/08 ,  H02K7/116

Abstract: A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.

公开(公告)号：US11602843B2

公开(公告)日：2023-03-14

申请号：US16932872

申请日：2020-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Yizhang Liu ,  Hongge Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J5/00

Abstract: The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.

公开(公告)号：US11579624B2

公开(公告)日：2023-02-14

申请号：US16935234

申请日：2020-07-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rui Guo ,  Chenchen Jiang ,  Kun Xie ,  Zhichao Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: G05D1/00 ,  G05D1/02 ,  G06T7/579

Abstract: The present disclosure provides an autonomous mobile apparatus and a control method thereof. The method includes: starting a SLAM mode; obtaining first image data captured by a first camera; extracting a first tag image of positioning tag(s) from the first image data; calculating a three-dimensional camera coordinate of feature points of the positioning tag(s) in a first camera coordinate system of the first camera based on the first tag image; calculating a three-dimensional world coordinate of the feature points of the positioning tag(s) in a world coordinate system based on a first camera pose of the first camera when obtaining the first image data in the world coordinate system and the three-dimensional camera coordinate; and generating a map file based on the three-dimensional world coordinate of the feature points of the positioning tag(s).

公开(公告)号：US11447196B2

公开(公告)日：2022-09-20

申请号：US16708464

申请日：2019-12-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youpeng Li ,  Youjun Xiong ,  Hongyu Ding ,  Meichun Liu ,  Jianxin Pang

IPC: B62D57/032 ,  B25J9/10 ,  B25J18/00

Abstract: A robotic leg assembly includes a main body having a first end and an opposite second end, a first servo arranged at the first end of the main body, a second servo connected to the main body and comprising an output shaft, a servo holder arranged at the second end of the main body, a third servo received in the servo holder, and a linkage bar mechanism. Each of a first initial angle of the first rotary member and a second initial angle of the second rotary member is in a predetermined range.

公开(公告)号：US11429810B2

公开(公告)日：2022-08-30

申请号：US16727946

申请日：2019-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Weixing Xiong ,  Youjun Xiong ,  Hongtao Liao

IPC: G06K9/00 ,  G06K9/62 ,  G06F17/16 ,  G06N5/04

Abstract: The present invention discloses a question answering method including obtaining a first question and a first category of the first question, combining the first question with each of preset second questions corresponding to the first category to form question groups, inputting the question groups into a trained deep retrieval matching classification model to obtain a first probability of a first classification label of each of the question groups, inputting the first question into a gradient boosting decision model to obtain a second category of the first question, obtaining a second category of the second questions, adjusting the first probability of the first classification label of each of the question groups, according to the second category of the second questions and the second category of the first question in each of the question groups, and outputting a reply according to adjusted first probabilities for solving a problem of low reply accuracy.

公开(公告)号：US11422567B2

公开(公告)日：2022-08-23

申请号：US16718212

申请日：2019-12-18

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiangbin Huang ,  Gaobo Huang ,  Pinjun Fu ,  Youjun Xiong

IPC: G05D1/02 ,  G01S13/88 ,  B25J11/00 ,  B25J9/16 ,  B25J19/00 ,  G01S13/42 ,  G01S7/48 ,  G01S17/42 ,  H02J7/00 ,  G01S17/88 ,  B25J19/02 ,  G01S7/41 ,  G01S13/931

Abstract: The present disclosure provides a robot recharging localization method including: calculating a directional angle of a first identification line based on identification points near a radar zero point of the first recognition line collected by a radar of the robot; determining a sequence of the identification points in an identification area according to the calculated directional angle of the first identification line, and finding two endpoints of the sequence of the identification points; determining dividing point(s) in the sequence of the identification points; fitting the sequence of the identification points to obtain a linear equation of the first identification line with respect to a coordinate system of a mobile robot; and determining a central positional coordinate of the first identification line based on the dividing point(s) and a linear equation, and determining a relative position of the robot based on the central positional coordinate and the linear equation.