公开(公告)号：US20210162595A1

公开(公告)日：2021-06-03

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：US20200156721A1

公开(公告)日：2020-05-21

申请号：US16452532

申请日：2019-06-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YOUJUN XIONG ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jianxin Pang

IPC: B62D57/032

Abstract: The present disclosure provides a robot gait planning method and a robot with the same. The method includes: obtaining, through the sensor set, force information of feel of the robot under a force applied by a target object; calculating coordinates of zero moment points of the feet of the robot with respect to a centroid of a body of the robot based on the force information; and determining a gait planning result for the robot based on the coordinates of the zero moment points with respect to the centroid of the body. The present disclosure is capable of converting the force of the target object to the zero moment points, and using the zero moment points to perform the gait planning, so that the robot follows the target object in the case that the robot is subjected to a force of the target object.

公开(公告)号：US20190204848A1

公开(公告)日：2019-07-04

申请号：US16172838

申请日：2018-10-28

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Ligang Ge ,  Chunyu Chen ,  Yizhang Liu ,  Zheng Xie ,  Zhaohui An ,  Jinghua Tang

IPC: G05D1/02 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J17/00 ,  B62D57/032 ,  G05D1/08

CPC classification number: G05D1/0268 ,  B25J9/106 ,  B25J9/1615 ,  B25J13/08 ,  B25J17/00 ,  B62D57/032 ,  G05D1/0891 ,  G05D2201/0217

Abstract: The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning art initial position of an ankle joint of the biped robot and a rotation angle a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle, of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.

公开(公告)号：US20190118385A1

公开(公告)日：2019-04-25

申请号：US16140541

申请日：2018-09-25

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge

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

Abstract: The present disclosure relates to robot technology, which provides a footed robot landing control method and device. The method includes: detecting a landing motion state of the robot; if the landing motion state is a flight phase descending state, a motion of the foot portion of the robot with respect to a ground in the flight phase descending state is controlled based on a relative speed; if the landing motion state is a support phase landing state, a motion of joints of the robot in the support phase landing state is controlled based on a first expected joint torque. The present disclosure is capable of reducing the impact of the foot portion against the ground, thereby realizing the flexible control of the landing process of the footed robot in a simple and rapid manner and reducing the cost of the footed robot.

公开(公告)号：US12292738B2

公开(公告)日：2025-05-06

申请号：US18222448

申请日：2023-07-16

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Qiuyue Luo ,  Ligang Ge ,  Yizhang Liu ,  Jie Bai ,  Youjun Xiong

IPC: B25J11/00 ,  B25J9/10 ,  G05D1/00

Abstract: A trajectory planning method, a computer-readable storage medium, and a robot are provided. The method includes: constructing a phase variable of a trajectory planning of a robot, where the phase variable is a function of two position components of a torso of the robot on a horizontal plane; and performing, using the phase variable replacing a time variable, the trajectory planning on a swinging leg of the robot in each preset coordinate axis direction. In this manner, the robot can no longer continue to follow the established trajectory after being disturbed by the environment, but make state adjustments according to the disturbance received to offset the impact of the disturbance, thereby maintaining walking stability and avoiding the problem of early or late landing of the swinging leg.

公开(公告)号：US12285870B2

公开(公告)日：2025-04-29

申请号：US18070313

申请日：2022-11-28

Applicant: UBTECH ROBOTICS CORP LTD

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

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

Abstract: A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.

公开(公告)号：US12122468B2

公开(公告)日：2024-10-22

申请号：US17562985

申请日：2021-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongge Wang ,  Ligang Ge ,  Yizhang Liu ,  Jie Bai ,  Chunyu Chen ,  Xingxing Ma ,  Jiangchen Zhou ,  Youjun Xiong

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B62D57/032 ,  B25J9/1664

Abstract: A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.

公开(公告)号：US20240017404A1

公开(公告)日：2024-01-18

申请号：US18371472

申请日：2023-09-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1628

Abstract: A robot step length control method, a robot controller, and a computer-readable storage medium are provided. The method includes: if it detects that a humanoid robot is not in a balanced state at a current time, it correspondingly obtains a torso deflection posture parameter, a lower limb parameter and a leg swing frequency of the legs of the humanoid robot at the current time; and it calculates, using a swinging leg capture point algorithm, a calculated step length for maintaining a stable state of the humanoid robot that meets a posture balance requirement of the robot at the current time based on the torso deflection posture parameter, the lower limb parameter, and the leg swing frequency, so that the humanoid robot can be restored to the balanced state after moving with the calculated step length, thereby improving the anti-interference ability of the robot.

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：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.