公开(公告)号：US20210201890A1

公开(公告)日：2021-07-01

申请号：US17095751

申请日：2020-11-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Ruotong Wang ,  Dongyan Huang ,  Xian Li ,  Jiebin Xie ,  Zhichao Tang ,  Wan Ding ,  Yang Liu ,  Bai Li ,  Youjun Xiong

IPC: G10L15/06 ,  G10L15/16 ,  G10L21/01 ,  G10L25/18 ,  G10L25/24 ,  G10L15/30 ,  G06N3/08

Abstract: The present disclosure discloses a voice conversion training method. The method includes: forming a first training data set including a plurality of training voice data groups; selecting two of the training voice data groups from the first training data set to input into a voice conversion neural network for training; forming a second training data set including the first training data set and a first source speaker voice data group; inputting one of the training voice data groups selected from the first training data set and the first source speaker voice data group into the network for training; forming the third training data set including the second source speaker voice data group and the personalized voice data group that are parallel corpus with respect to each other; and inputting the second source speaker voice data group and the personalized voice data group into the network for training.

公开(公告)号：US20210200962A1

公开(公告)日：2021-07-01

申请号：US17133673

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongfa Feng ,  Dongyan Huang ,  Youjun Xiong

IPC: G06F40/40

Abstract: A computer-implemented method for text conversion, a computer device, and a non-transitory computer readable storage medium are provided. The method includes: obtaining a text to be converted; performing a non-standard word recognition on the text to be converted, to determine whether the text to be converted includes a non-standard word; recognizing the non-standard word in the text to be converted by using an eXtreme Gradient Boosting model in response to the text to be converted including the non-standard word; and obtaining a target converted text corresponding to the text to be converted, according to a recognition result outputted by the eXtreme Gradient Boosting model. The method has a faster recognition speed and a higher recognition accuracy compared with the deep learning model.

公开(公告)号：US20210200948A1

公开(公告)日：2021-07-01

申请号：US16886826

申请日：2020-05-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： LI MA ,  Youjun Xiong

IPC: G06F40/242 ,  G06N7/00 ,  G06N20/00 ,  G06F40/289

Abstract: The present disclosure provides a corpus cleaning method and a corpus entry system. The method includes: obtaining an input utterance; generating a predicted value of an information amount of each word in the input utterance according to the context of the input utterance using a pre-trained general model; and determining redundant words according to the predicted value of the information amount of each word, and determining whether to remove the redundant words from the input utterance. In such a manner, the objectivity and accuracy of corpus cleaning can be improved.

公开(公告)号：US20210197909A1

公开(公告)日：2021-07-01

申请号：US17134202

申请日：2020-12-25

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： Liang Huang ,  Hongyu Ding ,  Jianxin Pang ,  Youjun Xiong

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

Abstract: A leg mechanism of a humanoid robot includes: an upper leg, a lower leg rotatably coupled to the upper leg, a knee module actuator mounted to the upper leg, a foot rotatably connected to the lower leg, a knee transmission mechanism connected to the knee module actuator and the lower leg and configured to transmit rotary motion from the knee module actuator to the lower leg, at least one ankle module actuator mounted to the upper leg, at least one ankle transmission mechanism connected to the at least one ankle module actuator and the foot and configured to transmit rotary motion from the at least one ankle module actuator to the foot.

公开(公告)号：US20210197908A1

公开(公告)日：2021-07-01

申请号：US17134147

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTP

Inventor： Liang Huang ,  Hongyu Ding ,  Youjun Xiong

IPC: B62D57/032

Abstract: A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.

公开(公告)号：US20210197367A1

公开(公告)日：2021-07-01

申请号：US17133656

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

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

Abstract: The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.

公开(公告)号：US11045945B2

公开(公告)日：2021-06-29

申请号：US16212619

申请日：2018-12-06

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Hao Dong ,  Yuesong Wang ,  Mingguo Zhao

IPC: B25J9/00 ,  B25J9/16 ,  B62D57/032 ,  B25J13/08 ,  B25J19/02

Abstract: A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.

公开(公告)号：US20210187731A1

公开(公告)日：2021-06-24

申请号：US16817576

申请日：2020-03-12

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZECAI LIN ,  Zhaohui An ,  Yizhang Liu ,  Mekhui Zhang ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/06

Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.

公开(公告)号：US20210183116A1

公开(公告)日：2021-06-17

申请号：US17075727

申请日：2020-10-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rui Guo ,  Zhichao Liu ,  Jianxin Pang ,  Youjun Xiong

IPC: G06T11/00 ,  G06T3/00 ,  G06T7/13 ,  G06T7/70 ,  G06T7/90 ,  G01C21/00

Abstract: A method for building a map includes: acquiring an original grayscale map, preprocessing the original grayscale map to obtain a preprocessed map, binarizing the preprocessed map to obtain a binarized map, performing a boundary filling to the preprocessed map and the binarized map to obtain a boundary-filled preprocessed map and a boundary-filled binarized map, performing a boundary thinning to the boundary-filled binarized map to obtain a thinned binarized map, and performing a boundary thinning to the boundary-filled preprocessed map, according to the thinned binarized map, to obtain a thinned preprocessed map.

公开(公告)号：US20210181765A1

公开(公告)日：2021-06-17

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: G05D1/08 ,  B62D57/02 ,  G05D1/02 ,  G05B19/4155

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.