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    Control method for robot, computer-readable storage medium and robot
    32.
    发明授权
    Control method for robot, computer-readable storage medium and robot 有权

    公开(公告)号：US12053885B2

    公开(公告)日：2024-08-06

    申请号：US17561629

    申请日：2021-12-23

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Zheng Xie ,  Youjun Xiong

    IPC: B25J9/16 ,  B62D57/02 ,  B62D57/032 ,  G05D1/08

    CPC classification number: B25J9/1602 ,  B25J9/1633 ,  B62D57/02

    Abstract: A robot control method includes: determining a planned capture point and a measured capture point of the robot so as to calculate a capture point error of the robot; obtaining positions of a left foot and a right foot of the robot, and a planned zero moment point (ZMP) of the robot so as to calculate desired support forces of the left foot and the right foot; calculating desired torques of the left foot and the right foot according to the capture point error, the desired support forces of the left foot and the right foot; obtaining measured torques of the left foot and the right foot so as to calculate desired poses of the left foot and the right foot; and controlling the robot to walk according to the desired poses of the left foot and the desired pose of the right foot.

    LINKAGE MECHANISM, ROBOTIC FINGER AND ROBOT
    33.
    发明公开
    LINKAGE MECHANISM, ROBOTIC FINGER AND ROBOT 审中-公开

    公开(公告)号：US20230415354A1

    公开(公告)日：2023-12-28

    申请号：US18243665

    申请日：2023-09-08

    Applicant: UBTECH ROBOTICS CORP LTD.

    Inventor： ZHONGKUI HUANG ,  Ming Chen ,  Qixiang Luo ,  Hongyu Ding ,  Zheng Xie ,  Wenhua Fan

    IPC: B25J15/00 ,  B25J15/02 ,  B25J15/12

    CPC classification number: B25J15/0009 ,  B25J15/022 ,  B25J15/12

    Abstract: A linkage mechanism includes: a base member; a first link rotatably connected to the base member, the first link defining a first arc-shaped guide groove centered on a pivot axis about which the first link rotates relative to the base member; a second link rotatably connected to the first link; a connecting member rotatably connected to the base member and the second link; an actuating mechanism including a linear actuator and a transmission member that is driven by the linear actuator, the transmission member having a first end rotatably connected to the output shaft, and a second end slidably received in the first arc-shaped guide groove. When the linear actuator drives the connecting member to extend and move, the second end of the transmission member abuts against one end of the first arc-shaped guide groove, which drives the first link to rotate relative to the base member.

    CENTER OF MASS PLANNING METHOD FOR ROBOT, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM
    34.
    发明公开
    CENTER OF MASS PLANNING METHOD FOR ROBOT, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM 审中-公开

    公开(公告)号：US20230415333A1

    公开(公告)日：2023-12-28

    申请号：US18210026

    申请日：2023-09-19

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Zheng Xie ,  Youjun Xiong

    IPC: B25J9/16 ,  G05B19/4155

    CPC classification number: B25J9/1602 ,  G05B19/4155 ,  G05B2219/40244

    Abstract: A center of mass (COM) planning method includes: obtaining a planning position of the COM and a planning speed of the COM of a robot, and calculating a planning capture point of the robot according to the planning position of the COM and the planning speed of the COM; obtaining a measured position of the COM and a measured speed of the COM, and calculating a measured capture point of the robot according to the measured position the measured speed; calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point; obtaining a measured ZMP of the robot, and calculating an amount of change in a position of the COM according to the desired ZMP and the measured ZMP; and correcting the planning position of the COM according to the amount of change in the position of the COM.

    Method and device for controlling arm of robot
    35.
    发明授权
    Method and device for controlling arm of robot 有权

    公开(公告)号：US11833692B2

    公开(公告)日：2023-12-05

    申请号：US17115712

    申请日：2020-12-08

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

    IPC: B25J9/16 ,  G05B19/4155 ,  B25J13/08

    CPC classification number: B25J9/1666 ,  B25J9/1605 ,  B25J9/1643 ,  G05B19/4155 ,  B25J13/08 ,  G05B2219/40269

    Abstract: The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.

    Robot
    37.
    外观设计
    Robot 有权

    公开(公告)号：USD985643S1

    公开(公告)日：2023-05-09

    申请号：US29776824

    申请日：2021-04-01

    Applicant: UBTECH ROBOTICS CORP LTD

    Designer： Yiping Li ,  Mingming Ji ,  Weizhi Shi ,  Xinshui Huang ,  Zheng Xie ,  Xue Yang ,  Qiuhong Shi ,  Meichun Liu ,  Weining Zhang ,  Qidong Xu ,  Youpeng Li ,  Jian Li

    Abstract: FIG. 1 is a first perspective view of a 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; 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.

    Robotic finger structure and robot
    38.
    发明授权
    Robotic finger structure and robot 有权

    公开(公告)号：US11639005B2

    公开(公告)日：2023-05-02

    申请号：US17326259

    申请日：2021-05-20

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： Kunlei Zhao ,  Zheng Xie ,  Weizhi Shi ,  Minghua Chen ,  Zhaohui An ,  Youjun Xiong

    IPC: B25J15/00 ,  B25J9/12 ,  B25J15/02

    Abstract: A robotic finger structure includes a proximal phalanx; a middle phalanx rotatably connected to one end of the proximal phalanx; a distal phalanx rotatably connected to one end of the middle phalanx and defining a distal phalanx opening in a front side thereof and at one end adjacent to the middle phalanx; a connecting rod having opposite ends that are rotatably connected to the proximal phalanx and the distal phalanx, and an actuating assembly to drive the middle phalanx to rotate with respect to the proximal phalanx. The connecting rod includes a first angled segment having a first recess facing a back side of the middle phalanx. When the distal phalanx is flush with the middle phalanx, the first angled segment passes through the distal phalanx opening, and a first end of the distal phalanx opening extends into the first recess.

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