公开(公告)号：US20230264765A1

公开(公告)日：2023-08-24

申请号：US18113625

申请日：2023-02-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YAN XIE ,  Mingguo Zhao ,  Youjun Xiong

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B62D57/032 ,  B25J9/1653 ,  B25J9/1664

Abstract: A method for estimating a pose of a humanoid robot includes: processing obtained pose parameters of a waist of the humanoid robot and plantar motion parameters of the humanoid robot to obtain the measured pose parameters of a center point of the waist of the humanoid robot; calculating predicted pose parameters of the center point of the waist according to the obtained pose parameters of the waist; and fusing the measured pose parameters and the predicted pose parameters to obtain estimated pose parameters of the center point of the waist.

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.

公开(公告)号：US11472024B2

公开(公告)日：2022-10-18

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：US11353887B2

公开(公告)日：2022-06-07

申请号：US16587069

申请日：2019-09-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Yuesong Wang ,  Mingguo Zhao

IPC: G05D1/08 ,  B25J9/16 ,  B25J13/08

Abstract: The present disclosure provides a robot centroid position adjustment method as well as an apparatus and a robot using the same. The method includes: obtaining initial values; obtaining a waist velocity adjustment value; calculating a current value of the centroid position; and determining whether a current value of the centroid position is equal to the planning value of the centroid position; if the current value of the centroid position is not equal to the planning value of the centroid position, obtaining the current value of the centroid position to take as the initial value of the centroid position and returning to the step of obtaining the waist velocity adjustment value until the current value of the centroid position is equal to the planning value of the centroid position. In such a manner, the balance ability of the robot can be improved.

公开(公告)号：US20200206944A1

公开(公告)日：2020-07-02

申请号：US16669551

申请日：2019-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hao Dong ,  Youjun Xiong ,  Yuesong Wang ,  Mingguo Zhao

IPC: B25J13/08 ,  B25J9/16 ,  B25J17/02

Abstract: The present disclosure provides an acceleration compensation method for a humanoid robot as well as an apparatus and a humanoid robot using the same. The method includes: calculating an angular acceleration of each joint and calculating a six-dimensional acceleration of a centroid of a connecting rod corresponding to the joint in an absolute world coordinate system, if the humanoid robot is in a single leg supporting state; calculating a torque required by the angular acceleration of each joint of the humanoid robot; determining a feedforward current value corresponding to the torque of each joint; and superimposing the feedforward current value on a control signal of each joint to control the humanoid robot. In this manner, the influence of the acceleration can be effectively suppressed, the rigidity of the PID controller of the humanoid robot can be reduced, thereby improving the stability of the entire humanoid robot.

公开(公告)号：US20200206925A1

公开(公告)日：2020-07-02

申请号：US16660822

申请日：2019-10-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Youjun Xiong ,  Mingguo Zhao

IPC: B25J9/16 ,  G05B19/19

Abstract: The present disclosure provides an impedance control method for a biped robot as well as an apparatus and a biped robot using the same. The method includes: correcting an impact force on a landing leg in the two legs of the biped robot using a natural attenuation function, and taking the corrected impact force as an input of an impedance control; obtaining an impedance model of the biped robot; determining a transfer function of the impedance control based on the impedance model; calculating an output of the impedance control based on the input of the impedance control and the transfer function of the impedance control; determining a joint angle of each joint based on the output of the impedance control and a planned pose of the biped robot; and transmitting joint angle information of each joint to motor(s) of the joint to perform the impedance control.

公开(公告)号：US12103177B2

公开(公告)日：2024-10-01

申请号：US17868790

申请日：2022-07-20

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yijie Guo ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/1607 ,  B25J9/1615 ,  B25J9/163 ,  B25J9/1638 ,  B25J9/1653

Abstract: A decoupling control method for a humanoid robot includes: decomposing tasks of the humanoid robot to obtain kinematic tasks and dynamic tasks, and classifying corresponding joints of the humanoid robot into kinematic task joints or dynamic task joints; solving desired positions and desired speeds of the kinematic task joints for performing the kinematic tasks according to desired positions and desired speeds of ends in the kinematic tasks using inverse kinematics; calculating torques of the kinematic task joints based on the desired positions and desired speeds of the kinematic task joints; and solving a pre-built optimization model of torques required for the dynamic task joints based on the calculated torques of the kinematic task joints, to obtain torques required by the dynamic task joints for performing the dynamic tasks.

公开(公告)号：US11845186B2

公开(公告)日：2023-12-19

申请号：US17138942

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

CPC classification number: B25J9/1643 ,  B25J9/1607 ,  G05B2219/50391

Abstract: An inverse kinematics solving method for redundant robot as well as a redundant robot using the same are provided. The method includes: obtaining an expression of a Jacobian matrix null space of a current configuration of each robotic arm of the redundant robot corresponding to a preset end pose of the robotic arm according to the preset end pose, and obtaining a relation between an angular velocity of the joints of the redundant robot in the Jacobian matrix null space of the current configuration based on the obtained expression; traversing the Jacobian matrix null space using the relation, and building an energy cost function of the redundant robot based on the relation; obtaining a target joint angle of each joint of the redundant robot based on the optimal inverse kinematics solution to transmit to the servo of the joint so as to control the joint.

公开(公告)号：US11642786B2

公开(公告)日：2023-05-09

申请号：US17138948

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/02 ,  B62D57/032 ,  B25J19/00 ,  B25J9/00

CPC classification number: B25J9/1664 ,  B25J9/1651 ,  B25J9/1653 ,  B25J9/0006 ,  B25J9/1607 ,  B25J19/0008 ,  B62D57/02 ,  B62D57/032 ,  G05B2219/39063 ,  G05D2201/0217

Abstract: A humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.

公开(公告)号：US11485028B2

公开(公告)日：2022-11-01

申请号：US16566908

申请日：2019-09-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhihua Zhang ,  Mingguo Zhao ,  Hailei Li ,  Kang Li ,  Weining Zhang ,  Guangjun Hei ,  Xiaoyu He ,  Youjun Xiong

IPC: B25J17/02 ,  B25J19/00 ,  B25J19/02 ,  B62D57/032

Abstract: A linear joint includes a motor assembly includes a rotating shaft for outputting motion; a transmission mechanism including a screw and a nut threadedly connected to the screw, the nut being coaxial with respect to and securely connected to the rotating shaft so as to be rotatable together with the rotating shaft; and a rod connected to a first end of the screw so as to move together with the screw along a lengthwise direction of the screw.