公开(公告)号：US20230294281A1

公开(公告)日：2023-09-21

申请号：US18200417

申请日：2023-05-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHE XU ,  Mingguo Zhao ,  Youjun Xiong

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

CPC classification number: B25J9/163 ,  B62D57/032 ,  B25J9/1633 ,  B25J9/1607 ,  B25J13/085

Abstract: A multi-legged robot load balancing method, a multi-legged robot, and a storage medium are provided. The method includes: calculating a current position and velocity of a load positioned on a torso according to a value measured by a force sensor; calculating, through a feedback control law, a desired posture of the torso required for keeping a balance of the load according to the current position and the current velocity of the load; determining an expected position of virtual joints according to the desired posture of the torso, and calculating, using a full dynamics control algorithm of the robot, a joint torque for each real joint of the robot according to the expected position; and transmitting the calculated joint torques to the corresponding real joints so that the torso is moved to reach the desired posture by moving the corresponding real joints.

公开(公告)号：US20230285619A1

公开(公告)日：2023-09-14

申请号：US18120990

申请日：2023-03-13

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHANJIA BI ,  Youjun Xiong ,  Huan Tan

IPC: A61L2/24 ,  G01C21/00 ,  G05D1/02

CPC classification number: A61L2/24 ,  G01C21/3807 ,  G05D1/0212 ,  G05D2201/0203 ,  A61L2202/14 ,  A61L2202/16

Abstract: A navigation method for a disinfection robot includes: obtaining an initial map within a field of view of the robot; generating a disinfection grid having multiple disinfection squares on the initial map, and determining multiple disinfecting consideration points in the disinfection squares; determining a disinfection order of disinfecting targets corresponding to the disinfection squares according to distances between the robot after the robot completes disinfection of one of the targets corresponding to one of the disinfection squares and to-be-disinfected ones of the disinfection squares; according to distances between the position and the disinfecting consideration points in to-be-disinfected ones of the disinfection squares, combined with priority levels of the disinfecting consideration points in to-be-disinfected ones of the disinfection squares, determining disinfecting planning points in the disinfection squares; and performing disinfection to the targets corresponding to the disinfection squares according to the disinfection order and the disinfecting planning points.

公开(公告)号：US11724393B2

公开(公告)日：2023-08-15

申请号：US17137382

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1633

Abstract: The present disclosure provides a robotic arm space position adjustment method, a robotic arm controller, and a computer readable storage medium. The method includes: calculating a potential energy function of moving a feature point of the robotic arm to a reference point based on an obtained preset acceleration of an artificial gravitational field, first vector of the artificial gravitational field in a preset reference coordinate system, second vector of the feature point of the robotic arm in the preset reference coordinate system, and a third vector of the reference point in the preset reference coordinate system; and calculating a null space virtual moment of moving the feature point of the robotic arm to the reference point based on a preset null space operator and the potential energy function, so as to adjust each joint of the robotic arm.

公开(公告)号：US20230234655A1

公开(公告)日：2023-07-27

申请号：US18091327

申请日：2022-12-29

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B62D57/032 ,  G05D1/02 ,  B25J17/00

CPC classification number: B62D57/032 ,  G05D1/0212 ,  B25J17/00 ,  G05D2201/0217

Abstract: A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.

公开(公告)号：US20230234222A1

公开(公告)日：2023-07-27

申请号：US18129909

申请日：2023-04-03

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Youjun Xiong

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/163 ,  B25J9/1651 ,  B25J9/1607 ,  B25J9/0006

Abstract: A humanoid robot balance control method, a humanoid robot, and a storage medium are provided. The method includes: obtaining a task equation of each of a plurality of deconstructed tasks in a corresponding control cycle by solving a plurality of deconstructed task models using a relevant actual state and a corresponding expected state of the humanoid robot; calculating an optimal solution of a multi-task error optimization function based on each task equation; and generating a joint control instruction of the corresponding control cycle based on the optimal solution in response to the optimal solution being obtained within the corresponding control cycle so as to control corresponding joint(s) to execute the tasks. In such manner, it can ensure that the robot satisfies the necessary constraints while executing multiple tasks, and also comprehensively considers the errors of all the tasks to ensure the execution of all the tasks.

公开(公告)号：US11693430B2

公开(公告)日：2023-07-04

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: G05D1/02 ,  G05D1/08 ,  B62D57/02 ,  G05B19/4155

CPC classification number: G05D1/0891 ,  B62D57/02 ,  G05B19/4155 ,  G05D1/0212 ,  G05B2219/40233

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：US20230202027A1

公开(公告)日：2023-06-29

申请号：US18090457

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHUNYU CHEN ,  Jie Bai ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1602 ,  B62D57/032

Abstract: A walking control method for a biped robot includes: detecting whether the biped robot is in an unbalanced state; in response to detection that the biped robot is in the unbalanced state, obtaining a predicted balance step length corresponding to the biped robot in the unbalanced state; performing a smooth transition processing on the predicted balance step length according to a current movement step length of the biped robot to obtain a desired balance step length corresponding to the predicted balance step length; determining a planned leg trajectory of the biped robot according to the desired balance step length; and controlling a current swing leg of the biped robot to move according to the planned leg trajectory.

公开(公告)号：US20230191600A1

公开(公告)日：2023-06-22

申请号：US17984215

申请日：2022-11-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： GANG HAN

IPC: B25J9/16

CPC classification number: B25J9/1658

Abstract: A motion control method, a robot, and a computer-readable storage medium are provided. The method includes: calculating a task matrix and expected information of each task of the robot based on reference trajectory information of each task of the robot in a control period and state estimation information of each task of the robot in the control period; calculating a constraint matrix and a boundary of an inequality constraint that the robot needs to satisfy based on the state estimation information; constructing a hierarchical quadratic programming problem with recursive hierarchical projection based on all the information obtained above, a real-time determined weight coefficient of each task, and a real-time determined priority level of each task: and solving the hierarchical quadratic programming problem to obtain a result, and generating a joint control instruction for controlling each joint of the robot to move.

公开(公告)号：US20230182328A1

公开(公告)日：2023-06-15

申请号：US18081611

申请日：2022-12-14

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaoyu Ren ,  Liqun Huang ,  Huan Tan ,  Youjun Xiong

IPC: B25J19/02

CPC classification number: B25J19/02

Abstract: A motion terrain determining method, a robot, and a computer-readable storage medium are provided. The method includes: determining each sine parameter and each cosine parameter corresponding to a target joint in a plurality of joints of the robot according to one or more constraint conditions; determining a motion trajectory of the robot according to the sine parameter and the cosine parameter corresponding to the target joint; and determining a motion terrain of the robot according to the motion trajectory. In this manner, the best motion terrain can be obtained, and the robot is controlled to move on the determined motion terrain when determining the dynamics parameters of the robot, where the obtained dynamics parameters are more accurate to effectively improve the efficiency of the identification of the dynamics parameters.

公开(公告)号：US20230133207A1

公开(公告)日：2023-05-04

申请号：US17513917

申请日：2021-10-29

Applicant: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP ,  UBTECH ROBOTICS CORP LTD

Inventor： Sheryl Suet Ying Chau ,  Yang Shen ,  Chengkun Zhang ,  Huan Tan

IPC: B25J13/08 ,  G01L5/169

Abstract: A touch sensing method and a serial manipulator using the same are disclosed. A serial manipulator using the method may detect and localize external torques by obtaining a torque value of each joint of a serial manipulator through a torque sensor at the joint; obtaining a preset joint angle of each joint from the serial manipulator; calculating a Jacobian matrices of the serial manipulator based on the joint angle of the joints; estimating joint torques of the serial manipulator based on the torque value of each joint and the Jacobian matrices; calculating an error between the torque value of each joint and the estimated joint torque corresponding to the joint; and determining a link of the serial manipulator that is connected to the joint with the minimum calculated error as having been touched.