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公开(公告)号：US20230130977A1
公开(公告)日：2023-04-27
申请号：US18089614
申请日：2022-12-28
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xianwen Zeng , Yizhang Liu , Meihui Zhang , Jinliang Chen , Youjun Xiong
Abstract: A method for controlling a robot comprising an end effector includes: establishing at steady state between the end effector and a working surface through a preset impedance control mechanism, and adjusting a contact force between the end effector and the working surface according to a preset desired force; obtaining a contact torque generated by the contact force; controlling the end effector to rotate according to the contact torque until a pose of the end effector is consistent with a pose of the working surface; and controlling the end effector to move tangentially along the working surface.
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公开(公告)号：US11617705B2
公开(公告)日：2023-04-04
申请号：US17530501
申请日：2021-11-19
Inventor： Houzhu Ding , Armen Gardabad Ohanian , Brandon Jon LaPlante , Chengkun Zhang , Zhen Xiu , Huan Tan
Abstract: A robotic assistant includes a wheeled base, a body positioned on the base, a foldable seat rotatably connected to the body, an actuator to rotate the foldable seat with respect to the body, and a control system that receives command instructions. The actuator is electrically coupled to the control system. In response to the command instructions, the control system is to control the actuator to rotate the foldable seat to a folded position or an unfolded position. The control system is further to detect whether an external force from a user has applied to the foldable seat, and release the actuator to allow the foldable seat to be manually rotated.
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公开(公告)号：US20230101489A1
公开(公告)日：2023-03-30
申请号：US17553758
申请日：2021-12-16
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yizhang Liu , Youjun Xiong , Xuan Luo , Xianwen Zeng , Ligang Ge , Chunyu Chen
IPC: B25J9/16
Abstract: A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided. The method includes: obtaining an optimization objective function, a joint acceleration inequation constraint function and a joint acceleration equation constraint function corresponding to the optimization target from a quadratic programming function library, where the optimization objective function is an objective function obtained based on the upper and lower limits of the optimization target and a Euclidean distance algorithm; and obtaining a joint acceleration planning result by performing a quadratic optimization solving on a joint acceleration of each of the target joints of the robot at time k according to the end Cartesian space speed at time k+1, the joint parameter set of the target joints of the robot at time k, the sampling period, the optimization objective function, the joint acceleration inequation constraint function, and the joint acceleration equation constraint function.
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34.发明授权公开(公告)号：US11602844B2
公开(公告)日：2023-03-14
申请号：US17192906
申请日：2021-03-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiaoyu Ren , Liqun Huang , Mingguo Zhao , Youjun Xiong
Abstract: A task hierarchical control method as well as a robot and a storage medium using the same are provided. The method includes: obtaining a task instruction for a robot, where the task instruction is for determining a target task card including an amount of selection matrices for dividing a target task into the amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks; obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix; generating control finks of the amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix; calculating a control torque of each of the control links and obtaining a hierarchical control output quantity by adding ail the control torques; and controlling the robot to perform the target task using the hierarchical control output quantity.
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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.
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Patent Agency Ranking
36.发明授权公开(公告)号：US11579591B2
公开(公告)日：2023-02-14
申请号：US17088596
申请日：2020-11-04
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yuesong Wang , Xiaozhu Ju , Mingguo Zhao , Youjun Xiong
IPC: G05B19/4155 , B25J9/16 , G05B19/416
Abstract: A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints of the robot.
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公开(公告)号：US20230041272A1
公开(公告)日：2023-02-09
申请号：US17394416
申请日：2021-08-05
Inventor： David Ayllón Álvarez , Adam David King , Zhen Xiu , Huan Tan
Abstract: A method for facilitating a multiparty conversation is disclosed. An electronic device using the method may facilitate a multiparty conversation by identifying participants of a conversation, localizing relative positions of the participants, detecting speeches of the conversation, matching one of the participants to each of the detected speeches according to the relative positions of the participants, counting participations of the matched participant in the conversation, identifying a passive subject from all the participants according to the participations of all the participants in the conversation, finding a topic of the conversation between the participants, and engaging the passive subject by addressing the passive subject and speaking a sentence related to the topic.
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38.发明申请公开(公告)号：US20220392103A1
公开(公告)日：2022-12-08
申请号：US17488343
申请日：2021-09-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Rui Guo , Zhanjia Bi , Youjun Xiong
Abstract: A visual positioning method and a mobile machine using the same are provided. The method includes: extracting a plurality of corner feature points corresponding to a current image; determining whether a distance between each pair of the plurality of corner feature points is less than a first preset threshold; if yes, determining whether a grayscale value of each of the plurality of corner feature points with the distance less than the first preset threshold is within a second preset threshold range; if yes, obtaining cluster set(s) of the corner feature points; screening a plurality of valid feature points from the cluster set(s); determining a positioning reliability based on a ratio of amount of the valid feature points to an amount of the plurality of corner feature points; and if the positioning reliability is within a preset range, performing a visual positioning based on the positioning reliability.
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公开(公告)号：US11518042B2
公开(公告)日：2022-12-06
申请号：US16870903
申请日：2020-05-09
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chengkun Zhang , Marten Byl , Muhammed Rasid Pac , Raymond Ma , Luis Alfredo Mateos Guzman , Won Suk You , Huan Tan , Youjun Xiong
IPC: B25J9/00 , B25J11/00 , B25J5/00 , B65G1/02 , B65G61/00 , B25J9/16 , B25J9/10 , B25J9/12 , B25J19/00 , B25J19/02 , G05D1/02
Abstract: A robotic assistant includes a wheeled base, a storage unit including drawers, a foldable arm connected to a top of the storage unit and including an end of arm tooling (EOAT) connected to a distal end of the foldable arm, an elevation mechanism positioned on the wheeled base and used to move the storage unit up and down, and a control system that receives command instructions. In response to the command instructions, the control system is configured to move the wheeled base, open or close the one or more drawers, actuate movement of the foldable arm and the EOAT to pick up and place external objects from/to a determined location, and control the storage unit to move up/down.
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公开(公告)号：US20220337669A1
公开(公告)日：2022-10-20
申请号：US17230762
申请日：2021-04-14
Inventor： Kang-Hao PENG , Dejun GUO , Huan TAN
Abstract: Embodiments of the disclosure provide methods and systems for implementing a function for an application using a middleware on a computer. An exemplary method may include initializing an application node in the middleware corresponding to the application, the initializing comprising binding the function to the application node and associating the application node with a cryptor, connecting the middleware to a remote device through a transport layer using the cryptor, publishing a message to invoke the function from the application node, through the middleware, to the cryptor, and communicating with the remote device to invoke the function, using the cryptor, based on the message.
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