公开(公告)号：US20230202027A1

公开(公告)日：2023-06-29

申请号：US18090457

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHUNYU CHEN ,  Jie Bai ,  Yizhang Liu ,  Ligang Ge ,  Zheng Xie ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1602 ,  B62D57/032

Abstract: A walking control method for a biped robot includes: detecting whether the biped robot is in an unbalanced state; in response to detection that the biped robot is in the unbalanced state, obtaining a predicted balance step length corresponding to the biped robot in the unbalanced state; performing a smooth transition processing on the predicted balance step length according to a current movement step length of the biped robot to obtain a desired balance step length corresponding to the predicted balance step length; determining a planned leg trajectory of the biped robot according to the desired balance step length; and controlling a current swing leg of the biped robot to move according to the planned leg trajectory.

公开(公告)号：US11602848B2

公开(公告)日：2023-03-14

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

IPC: B25J9/16 ,  B25J13/08

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.

公开(公告)号：US11550335B2

公开(公告)日：2023-01-10

申请号：US16753408

申请日：2018-11-28

Applicant: UBTECH ROBOTICS CORP.

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

IPC: B62D57/032 ,  G05D1/02

Abstract: The present disclosure discloses a biped robot and its moving method and apparatus. The method includes: calculating a motion state of each servo of legs of a biped robot according to an actual trajectory of the biped robot, and controlling the servo to rotate to the corresponding motion state. The scheme enables the biped robot to achieve flexible controls to the biped robot according to the received real-time external feedbacks.

公开(公告)号：US20220379480A1

公开(公告)日：2022-12-01

申请号：US17678037

申请日：2022-02-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Youjun Xiong ,  Yizhang Liu ,  Qiuyue Luo ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou

IPC: B25J9/16 ,  B62D57/032

Abstract: A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.

公开(公告)号：US20220206501A1

公开(公告)日：2022-06-30

申请号：US17462019

申请日：2021-08-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xingxing Ma ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Hongge Wang ,  Jie Bai ,  Jiangchen Zhou ,  Zheng Xie

IPC: G05D1/02 ,  B25J9/16

Abstract: A dynamic footprint set generation method, a biped robot using die same, and a computer readable storage medium are provided. The method includes: obtaining preset footprint calculation parameters; calculating a landing point position based on the preset footprint calculation parameters; determining a landing point range based on a landing point position, and performing a collision detection on the landing point range; recording the corresponding landing point position in a footprint set in response to the detection result representing there being no collision; obtaining a preset adjustment amplitude to update a preset displacement angle after the recording is completed; and returning to the calculating the landing point position until the footprint set is generated. By continuously adjusting the preset displacement angle, each landing point position is calculated accordingly, and the valid landing point positions are recorded in the footprint set, which provides more feasible landing points for navigation planning.

公开(公告)号：US20220184807A1

公开(公告)日：2022-06-16

申请号：US17137431

申请日：2020-12-30

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

Abstract: The present disclosure provides a humanoid gait control method, device, apparatus and storage medium of humanoid robots. The method includes: obtaining a first vector from a virtual centroid to an ankle joint of a left leg of the humanoid robot at a current moment and a second vector from the virtual centroid to an ankle joint of a right leg at the current moment, and obtaining an original planning value of the virtual centroid of the current moment of the humanoid robot; determining a height of the target virtual centroid of the humanoid robot after the virtual centroid is reduced at the current moment according to the first vector, the second vector, the original planning value of the virtual centroid and a preset virtual centroid height reduction algorithm; and controlling the humanoid robot to walk on straight knees according to the height of the target virtual centroid.

公开(公告)号：US20210181748A1

公开(公告)日：2021-06-17

申请号：US17120232

申请日：2020-12-13

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: G05D1/02 ,  G01L5/16 ,  B62D57/02 ,  G05B19/4155

Abstract: A robot balance control method includes: obtaining force information associated with a left foot and a right foot of the robot; calculating a zero moment point of a center of mass (COM) of a body of the robot based on the force information; calculating a first position offset and a second position offset of the robot according to the zero moment point of the COM of the body; updating a position trajectory of the robot according to the first position offset and the second offset to obtain an updated position of the COM of the body; performing inverse kinematics analysis on the updated position of the COM of the body to obtain joint angles of the left leg and the right leg of the robot; and controlling the robot to move according to the joint angles.

公开(公告)号：US20210107577A1

公开(公告)日：2021-04-15

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

IPC: B62D57/02 ,  G01L5/16

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.

公开(公告)号：US20200206898A1

公开(公告)日：2020-07-02

申请号：US16572637

申请日：2019-09-17

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YOUJUN XIONG ,  Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Zheng Xie ,  Jianxin Pang

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

Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.

公开(公告)号：US12226903B2

公开(公告)日：2025-02-18

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 ,  B25J13/08 ,  B62D57/032

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.