公开(公告)号：US20230266764A1

公开(公告)日：2023-08-24

申请号：US18113624

申请日：2023-02-24

Applicant: Ubtech Robotics Corp Ltd

Inventor： ZHIHAO ZHANG ,  Yizhang Liu ,  Huan Tan ,  Youjun Xiong

IPC: G05D1/02 ,  G06T7/73

CPC classification number: G05D1/0214 ,  G06T7/75 ,  G06T2200/04

Abstract: A path generation method for a robot includes: based on a scene model of a current scene and a machine model corresponding to the robot, combined with multiple configurations of the robot, determining a plurality of initial points between a start point and an end point in the scene model; removing redundant points from the plurality of the initial points to obtain necessary points among the initial points; and connecting the necessary points to obtain a path between the start point and the end point.

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.

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.

公开(公告)号：US11565762B2

公开(公告)日：2023-01-31

申请号：US16724413

申请日：2019-12-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Xianwei Su ,  Zheng Xie ,  Youjun Xiong ,  Jianxin Pang

IPC: B62D57/02 ,  G01L5/16

Abstract: The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

公开(公告)号：US20220388169A1

公开(公告)日：2022-12-08

申请号：US17726548

申请日：2022-04-22

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

Abstract: A method for generating a center of mass (CoM) trajectory includes determining an actual pose of a center of mass (CoM), a pose of a left foot, and a pose of a right pose of a robot; determining a first pose tracking vector of the robot according to the actual pose of the CoM and the pose of the left foot, and determining a second pose tracking vector of the robot according to the actual pose of the CoM and the pose of the right foot; and controlling a desired pose of the CoM of the robot to alternately track the pose of the left foot and the pose of the right foot, according to the first pose tracking vector and the second pose tracking vector, so as to generate a desired CoM trajectory of the robot.

公开(公告)号：US20220379469A1

公开(公告)日：2022-12-01

申请号：US17702769

申请日：2022-03-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xianwen Zeng ,  Yizhang Liu ,  Youjun Xiong

IPC: B25J9/16 ,  A61H7/00

Abstract: A massage motion control method, a robot controller using the same, and a storage medium are provided. The method includes: calculating a robot end desired speed and a robot end desired angular speed corresponding to a desired massage trajectory of a massage robot to compensate using two obtained robot end compensation amounts in the case that the desired massage trajectory for a target massage area at a current control cycle, a robot end speed compensation amount meeting a desired massage intensity requirement, and a robot end angular speed compensation amount adapted to an environmental curvature of the target massage area are obtained, and controlling the massage robot by determining a corresponding to-be-outputted joint angle based on motion parameter(s) obtained by the compensation. In this manner, the adaptive change of the massage position and the massage intensity for the massage area of the patient can be realized.

公开(公告)号：US20220355479A1

公开(公告)日：2022-11-10

申请号：US17678030

申请日：2022-02-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

Abstract: A gait planning method and a robot using the same as well as a computer readable storage medium are provided. The method includes: determining a reference leg length l0 and a leg length variation range A of a robot; performing a trajectory planning on a length of at least one of the legs of the robot using; an equation including the reference leg length, the leg length variation range, and a preset recurrent excitation function of a time variable t. In this manner, the trajectory planning for the leg length of the robot during motion is performed according to the characteristics of motion scene such as robot jumping or running so that the change of the leg length of the robot is adapted to the motion process, which greatly improves the stability of the robot in the motion scene such as jumping or running.

公开(公告)号：US11061407B2

公开(公告)日：2021-07-13

申请号：US16231512

申请日：2018-12-23

Applicant: UBTECH Robotics Corp

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

IPC: G05D1/02

Abstract: The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.

公开(公告)号：US20210200224A1

公开(公告)日：2021-07-01

申请号：US17109099

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

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

Abstract: The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.

公开(公告)号：US20210197384A1

公开(公告)日：2021-07-01

申请号：US16843921

申请日：2020-04-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Miaochen Guo ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J9/04 ,  B25J9/06 ,  B25J9/00 ,  B25J13/08 ,  B25J19/04 ,  B25J9/12 ,  B25J17/02

Abstract: The present disclosure discloses a robot control method as well as an apparatus, and a robot using the same. The method includes: obtaining a human pose image; obtaining pixel information of key points in the human pose image; obtaining three-dimensional positional information of key points of a human arm according to the pixel information of the preset key points; obtaining a robotic arm kinematics model of a robot; obtaining an angle of each joint in the robotic arm kinematics model according to the three-dimensional positional information of the key points of the human arm and the robotic arm kinematics model; and controlling an arm of the robot to perform a corresponding action according to the angle of each joint. The control method does not require a three-dimensional stereo camera to collect three-dimensional coordinates of a human body, which reduces the cost to a certain extent.