-
公开(公告)号：US20230359207A1
公开(公告)日：2023-11-09
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
CPC classification number: G05D1/0212 , B25J11/00 , B25J9/10
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：US11599118B2
公开(公告)日：2023-03-07
申请号：US17137429
申请日：2020-12-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Ligang Ge , Yizhang Liu , Youjun Xiong , Jianxin Pang
IPC: G05D1/02 , B62D57/032
Abstract: A gait planning method includes: performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, which includes: acquiring a first step length and a second step length at a beginning of each CoM timing period; calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length; calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length; and performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.
-
公开(公告)号：US20220193899A1
公开(公告)日：2022-06-23
申请号：US17488341
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Hongge Wang , Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
-
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
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：US12103187B2
公开(公告)日：2024-10-01
申请号：US17516729
申请日：2021-11-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyu Chen , Ligang Ge , Yizhang Liu , Hongge Wang , Jie Bai , Zheng Xie , Jiangchen Zhou , Meihui Zhang , Shuo Zhang , Youjun Xiong
IPC: B25J9/16 , B62D57/032 , G05D1/43 , G05D1/622 , G05D1/644 , G05D109/12
CPC classification number: B25J9/1666 , B62D57/032 , G05D1/43 , G05D1/637 , G05D1/644 , G05D2109/12
Abstract: A path planning method and a biped robot using the same are provided. The method includes: generating a candidate node set for a next foot placement based on a biped robot's own parameters and joint information of a current node, adding valid candidate nodes in the candidate node set to a priority queue so as to select optimal nodes for realizing next node expansion. These optimal nodes are output to generate a foot placement sequence from an initial node to a target node, which can greatly reduce the search amount for path nodes when the robot's legs intersect and touch the ground, thereby improving the efficiency of path planning.
-
Patent Agency Ranking
公开(公告)号：US12097621B2
公开(公告)日：2024-09-24
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
CPC classification number: B25J9/1664
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：US20230133934A1
公开(公告)日：2023-05-04
申请号：US18089588
申请日：2022-12-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Jiangchen Zhou , Qiuyue Luo , Youjun Xiong
IPC: B25J9/16 , B25J13/08 , B62D57/032
Abstract: A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.
-
公开(公告)号：US11602843B2
公开(公告)日：2023-03-14
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
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：US20220203534A1
公开(公告)日：2022-06-30
申请号：US17516729
申请日：2021-11-02
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xingxing Ma , Chunyn Chen , Ligang Ge , Yizhang Liu , Hongge Wang , Jie Bai , Zheng Xie , Jiangchen Zhou , Meihui Zhang , Shuo Zhang , Youjun Xiong
IPC: B25J9/16 , B62D57/032 , G05D1/02
Abstract: A path planning method and a biped robot using the same are provided. The method includes: generating a candidate node set for a next foot placement based on a biped robot's own parameters and joint information of a current node, adding valid candidate nodes in the candidate node set to a priority queue so as to select optimal nodes for realizing next node expansion. These optimal nodes are output to generate a foot placement sequence from an initial node to a target node, which can greatly reduce the search amount for path nodes when the robot's legs intersect and touch the ground, thereby improving the efficiency of path planning.
-
30.发明申请公开(公告)号：US20220194500A1
公开(公告)日：2022-06-23
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
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.
-
-
-
-
-
-
-
-
-
Search Results
32
records
(took 0.017 seconds)
