公开(公告)号：US20240131702A1

公开(公告)日：2024-04-25

申请号：US18383950

申请日：2023-10-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： LIQUN HUANG ,  Xiaoyu Ren ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B25J18/00

CPC classification number: B25J9/1656 ,  B25J9/1679 ,  B25J13/085 ,  B25J18/00

Abstract: A method for controlling a robotic arm that includes an end effector and a sensor that are mounted at an end of the robotic arm includes: obtaining, by the sensor, n gravity matrix data, wherein the n gravity matrix data are gravity matrix data of the end effector in an end coordinate system when the robotic arm is in a different poses, n≤3; determining n rotation transformation matrices from a base coordinate system of the robotic arm to the end coordinate system when the robotic arm is in n different poses; calculating coordinates of a center of mass and mass of the end effector based on the n gravity matrix data and the a rotation transformation matrices; and controlling the robotic arm based on the coordinates of the center of mass and the mass.

公开(公告)号：US11904472B2

公开(公告)日：2024-02-20

申请号：US17504544

申请日：2021-10-19

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1646 ,  B25J9/1651 ,  B25J9/1653 ,  B25J9/1664 ,  B25J13/088

Abstract: A humanoid robot control method, a mobile machine using the same, and a computer readable storage medium are provided. The method includes: mapping posture information of leg joints of a human body to leg joint servos of a humanoid robot to obtain an expected rotation angle and an expected rotation angular velocity of non-target optimized joint servos of the leg joint servos and an expected rotation angle and an expected rotation angular velocity of target optimized joint servos of the leg joint servos; obtaining an optimization objective function corresponding to the target optimized joint servos of the leg joint servos; optimizing the expected rotation angle and the expected rotation angular velocity of the target optimized joint servos to obtain a corrected expected rotation angle and a corrected expected rotation angular velocity of the target optimized joint servos; and controlling each of the leg joint servos of the humanoid robot.

公开(公告)号：US11878426B2

公开(公告)日：2024-01-23

申请号：US17314039

申请日：2021-05-06

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xingxing Ma ,  Chunyu Chen ,  Ligang Ge ,  Hongge Wang ,  Mingqiang Huang ,  Jiangchen Zhou ,  Yizhang Liu ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/162 ,  B25J9/1653

Abstract: A biped robot gait control method as well as a robot and a computer readable storage medium are provided. During the movement, the system obtains a current supporting pose of a current supporting leg of the biped robot, and calculates a relative pose between the supporting legs based on the current supporting pose and a preset ideal supporting pose of a next step. The system further calculates modified gait parameters of the next step based on the relative pose between the two supporting legs and a joint distance between left and right ankle joints in an initial state of the biped robot when standing. Finally, the system controls the next supporting leg to move according to the modified gait parameters.

公开(公告)号：USD1010700S1

公开(公告)日：2024-01-09

申请号：US29859106

申请日：2022-11-07

Applicant: SHENZHEN YOUBIXING TECHNOLOGY CO., LTD ,  UBTECH ROBOTICS CORP LTD

Designer： Yiping Li ,  Guangchao Zhao ,  Qiujie Lin ,  Guisong Lu ,  Lì Zhang ,  Ke Wen

Abstract: FIG. 1 is a first perspective view of a delivery robot showing the claimed design in accordance with the present disclosure;
FIG. 2 is a second perspective view thereof;
FIG. 3 is a front elevational view thereof;
FIG. 4 is a rear elevational view thereof;
FIG. 5 is a left side elevational view thereof;
FIG. 6 is a right side elevational view thereof;
FIG. 7 is a top plan view thereof;
FIG. 8 is a bottom plan view thereof;
FIG. 9 is an enlarged view of encircled portion 9 in FIG. 1:
FIG. 10 is an enlarged view of encircled portion 10 in FIG. 1;
FIG. 11 is an enlarged view of encircled portion 11 in FIG. 4; and,
FIG. 12 is an enlarged view of encircled portion 12 in FIG. 7.
The broken lines in the Figures are for the purpose of illustrating portions of the article that form no part of the claimed design. The dash-broken lines encircling portions of the claimed design that are illustrated in enlargements form no part of the claimed design.

公开(公告)号：US11858141B2

公开(公告)日：2024-01-02

申请号：US17408512

申请日：2021-08-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1607 ,  B25J9/1641 ,  B25J9/1653 ,  B25J9/1664

Abstract: An impedance control method as well as a controller and a robot using the same are provided. The method includes: obtaining joint motion information and joint force information in the joint space of a robotic arm and an actual interaction force acting on an end-effector, and calculating actual motion information of the end-effector in the task space based on the joint motion information; calculating a corrected desired trajectory using environment information and a desired end-effector interaction force, and calculating the impedance control torque based on the joint force information, the actual interaction force, the actual motion information, and desired end-effector information including the corrected desired trajectory and determining a compensation torque based on a nonlinear term in a constructed dynamics equation so as to perform a joint torque control on the robotic arm based on the impedance control torque and the compensation torque.

公开(公告)号：US20230309501A1

公开(公告)日：2023-10-05

申请号：US17887536

申请日：2022-08-15

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Kexin Tian ,  Yangming Qian ,  Jin Li ,  Yanhui Chai

IPC: A01K1/01

CPC classification number: A01K1/0114

Abstract: A pet litter device includes: a base configured to be placed on a support surface, the base defining a recessed portion that comprises a recess surface defining an opening, and a drum rotatably connected to the base and partly received in the recessed portion. The drum has an outer lateral surface. The recess surface and a portion of the outer lateral surface that faces the recess surface define a gap and form a passage in communication with the opening. The recess surface is to guide litter particles entering the passage to pass through the opening to fall on the support surface.

公开(公告)号：USD997096S1

公开(公告)日：2023-08-29

申请号：US29796558

申请日：2021-06-25

Applicant: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP ,  UBTECH ROBOTICS CORP LTD

Designer： Zhi Heng Leow ,  Francisco Jose Hernandez ,  Chengkun Zhang ,  Huan Tan

Abstract: FIG. 1 is a first perspective view of a docking station for moving device showing the claimed design in accordance with the present disclosure;
FIG. 2 is a second perspective view thereof;
FIG. 3 is a front elevational view thereof;
FIG. 4 is a rear elevational view thereof;
FIG. 5 is a left side elevational view thereof;
FIG. 6 is a right side elevational view thereof;
FIG. 7 is a top plan view thereof; and,
FIG. 8 is a bottom plan view thereof.
The broken lines in the Figures are for the purpose of illustrating portions of the article that form no part of the claimed design.

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：US20230266763A1

公开(公告)日：2023-08-24

申请号：US18079807

申请日：2022-12-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dunhao Liu ,  Youjun Xiong ,  Huan Tan

IPC: G05D1/02 ,  G01C21/20

CPC classification number: G05D1/0214 ,  G01C21/20

Abstract: A method for navigating a robot through a limited space includes: obtaining a planned first path for the robot to reach a target position; calculating curvature and/or normal vectors of points in the first path; according to the curvature and a preset curvature threshold, and/or according to the normal vectors and a preset normal vector change threshold, obtaining a first straight path for the robot outside the limited space by curve fitting; determining an intersection of a centerline of the limited space and the first straight path, and determining a second straight path for the robot to move through the limited space according to the centerline and the intersection; and generating a second path for the robot to move through the limited space based on the first straight path and the second straight path, and navigating the robot to move through the limited space according to the second path.

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.