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公开(公告)号：US11717958B2
公开(公告)日：2023-08-08
申请号：US17345005
申请日：2021-06-11
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zhe Xu , Mingguo Zhao , Youjun Xiong
IPC: B25J9/16 , B25J13/08 , B62D57/032 , G05D1/08
CPC classification number: B25J9/1607 , B25J13/085 , B25J13/088 , B62D57/032 , G05D1/0891
Abstract: A method for a multi-legged robot having a body and a number of legs, includes: obtaining a current pose of the body, forces applied to the body, and joint angles of each of supporting legs of the legs; creating a mapping matrix from the forces applied to the body to desired support forces applied to soles of the supporting legs; obtaining priority targets by prioritizing the forces acting in different directions, determining a weight matrix for each priority target, and creating an optimization model of the support forces for each priority target based on the mapping matrix and the weight matrices; solving the optimization model of each of the priority targets to obtain the desired support forces corresponding to each of the priority targets; and calculating joint torques of the supporting legs for joint control, based on the solved desired support forces and Jacobian matrices corresponding to the supporting legs.
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公开(公告)号：US11708882B2
公开(公告)日：2023-07-25
申请号：US16941579
申请日：2020-07-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Liang Huang , Hongyu Ding , Jianxin Pang , Youjun Xiong
CPC classification number: F16H21/54 , B25J9/126 , B25J17/00 , B25J17/0266 , B25J9/106
Abstract: A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.
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公开(公告)号：US11685043B2
公开(公告)日：2023-06-27
申请号：US16902205
申请日：2020-06-15
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chengkun Zhang , Liang Huang , Jianbo Li , Jingchen Li , Hongyu Ding , Wenhua Fan , Won Suk You , Raymond Ma , Muhammed Rasid Pac , Huan Tan , Youjun Xiong
CPC classification number: B25J9/046 , B25J13/085 , B25J13/086 , B25J17/00 , B25J19/0004 , B25J9/126
Abstract: A mechanical arm includes a first link connectable to a surface, a second link, a third link, a fourth link, and a fifth link that are coupled to one another in series, and an end effector connectable to the fifth link. The end effector is rotatable about an axis of rotation same as an axis of rotation of the fourth link, and rotatable about an axis of rotation orthogonal to the axis of rotation of the fourth link. The first link, the second link, the third link, the fourth link, and the fifth link are collectively structured and configured to rotate such that the end effector is actuatable to a workspace under the surface.
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公开(公告)号：US20230191606A1
公开(公告)日：2023-06-22
申请号：US18075426
申请日：2022-12-06
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Meihui Zhang , Yizhang Liu , Youjun Xiong , Huan Tan
IPC: B25J9/16
CPC classification number: B25J9/1674
Abstract: A collision detection method, a storage medium, and a robot are provided. The method includes: calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer; calculating an external torque of a second joint of the robot based on a preset long short-term memory network; calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint; and determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold. In the present disclosure, the component of the model error in the joint external torque calculated by the disturbance observer is eliminated to obtain the accurate contact torque, thereby improving the accuracy of the collision detection.
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公开(公告)号：USD989145S1
公开(公告)日：2023-06-13
申请号：US29814351
申请日：2021-11-05
Designer： Francisco Jose Hernandez , ChengKun Zhang , Huan Tan
Abstract: FIG. 1 is a first perspective of a disinfecting robot showing the claimed design in accordance with the present disclosure;
FIG. 2 is a second perspective view thereof;
FIG. 3 is a front elevational view thereof;
FIG. 4 is a rear elevational view thereof;
FIG. 5 is a left side elevational view thereof;
FIG. 6 is a right side elevational view thereof;
FIG. 7 is a top plan view thereof;
FIG. 8 is a bottom plan view thereof; and,
FIG. 9 is a perspective view of the disinfecting robot with an upper part retracted.
The broken lines in the Figures are for the purpose of illustrating portions of the article that form no part of the claimed design.-
Patent Agency Ranking
公开(公告)号：US11654572B2
公开(公告)日：2023-05-23
申请号：US16935231
申请日：2020-07-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Kun Xie , Chenchen Jiang , Zhichao Liu , Jianxin Pang , Youjun Xiong
CPC classification number: B25J9/1697 , B25J9/161 , B25J9/1653 , B25J9/1664 , B25J13/08
Abstract: The present disclosure provides a robot mapping method as well as a robot and a computer readable storage medium using the same. The method includes: detecting a marker with identification information capable of being identified by the robot in a current scene; determining whether the detected marker meets a preset condition; and mapping the current scene based on the marker, if the detected marker meets the preset condition. The robot mapping method can not only map the current scene, but also effectively reduce the difficulty of loops and the number of false loops.
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公开(公告)号：US11644841B2
公开(公告)日：2023-05-09
申请号：US17113132
申请日：2020-12-07
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Shuping Hu , Jun Cheng , Jingtao Zhang , Miaochen Guo , Dong Wang , Jianxin Pang , Youjun Xiong
CPC classification number: G05D1/0212 , B62D57/02 , G05D1/0231 , G06T1/0014 , G06T7/13 , G06T7/73
Abstract: A robot climbing control method is disclosed. A gravity direction vector in a gravity direction in a camera coordinate system of a robot is obtained. A stair edge of stairs in a scene image is obtained and an edge direction vector of the stair edge in the camera coordinate system is determined. A position parameter of the robot relative to the stairs is determined according to the gravity direction vector and the edge direction vector. Poses of the robot are adjusted according to the position parameter to control the robot to climb the stairs.
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公开(公告)号：US11636712B2
公开(公告)日：2023-04-25
申请号：US17463500
申请日：2021-08-31
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chi Shao , Miaochen Guo , Jun Cheng , Jianxin Pang
IPC: G06V40/20 , G06V10/94 , G06V20/40 , G06V10/62 , G06V10/82 , G06V40/10 , G06N3/08 , G06F18/21 , G06F18/20 , G06F18/214
Abstract: A dynamic gesture recognition method includes: performing detection on each frame of image of a video stream using a preset static gesture detection model to obtain a static gesture in each frame of image of the video stream; in response to detection of a change of the static gesture from a preset first gesture to a second gesture, suspending the static gesture detection model and activating a preset dynamic gesture detection model; and performing detection on multiple frames of images that are pre-stored in a storage medium using the dynamic gesture detection model to obtain a dynamic gesture recognition result.
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公开(公告)号：US11602858B2
公开(公告)日：2023-03-14
申请号：US17216716
申请日：2021-03-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Zhaohui An , Weizhi Shi , Youjun Xiong
Abstract: A thumb structure includes a proximal phalanx, a distal phalanx rotatably connected to one end of the proximal phalanx, a fixing member connected to the proximal phalanx through a first ball joint, a linking member having opposite ends that are connected to the distal phalanx and the fixing member through a second ball joint and a third ball joint, a first actuating assembly to drive the proximal phalanx to swing in a direction of a first degree of freedom, and a second actuating assembly to drive the proximal phalanx to swing in a direction of a second degree of freedom.
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公开(公告)号：US20230064815A1
公开(公告)日：2023-03-02
申请号：US17732568
申请日：2022-04-29
Applicant: UBTech Robotics Corp Ltd
Inventor： Qiuyue Luo , Ligang Ge , Yizhang Liu , Chunyu Chen , Jie Bai
IPC: B25J9/16 , B62D57/032 , B25J13/08
Abstract: A method for controlling gait of a biped robot includes: collecting a lateral center of mass (CoM) speed and a lateral CoM position of the biped robot when the biped robot walks in place, calculating phase variables of virtual constraints corresponding to the CoM of the biped robot in a first phase and a second phase according to the lateral CoM speed and the lateral CoM position; constructing motion trajectory calculation equations for the biped robot based on the phase variables corresponding to the first phase and the second phase, respectively; and finding inverse solutions for joints of the biped robot using the motion trajectory calculation equations to obtain joint angles corresponding to each of the joints of the biped robot to realize gait control.
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