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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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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
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.
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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.
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24.发明申请公开(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
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.
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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.
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Patent Agency Ranking
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.
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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
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.
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公开(公告)号：US20210178588A1
公开(公告)日：2021-06-17
申请号：US17120229
申请日：2020-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Jianxin Pang , Youjun Xiong
Abstract: A robot control method includes: obtaining force information associated with feet of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a position trajectory of the robot according to the zero moment point of the COM of the body to obtain an updated position of the COM of the body; obtaining posture information of the robot; updating a posture trajectory of the robot according to the posture information to obtain an updated pose angle; performing inverse kinematics analysis on the updated position of the COM of the body and the updated pose angle to obtain joint angles of legs of the robot; and controlling the robot to move according to the joint angles.
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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
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.
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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.
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