公开(公告)号：US11485028B2

公开(公告)日：2022-11-01

申请号：US16566908

申请日：2019-09-11

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhihua Zhang ,  Mingguo Zhao ,  Hailei Li ,  Kang Li ,  Weining Zhang ,  Guangjun Hei ,  Xiaoyu He ,  Youjun Xiong

IPC: B25J17/02 ,  B25J19/00 ,  B25J19/02 ,  B62D57/032

Abstract: A linear joint includes a motor assembly includes a rotating shaft for outputting motion; a transmission mechanism including a screw and a nut threadedly connected to the screw, the nut being coaxial with respect to and securely connected to the rotating shaft so as to be rotatable together with the rotating shaft; and a rod connected to a first end of the screw so as to move together with the screw along a lengthwise direction of the screw.

公开(公告)号：US20220193902A1

公开(公告)日：2022-06-23

申请号：US17485412

申请日：2021-09-25

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： Xiaozhu Ju ,  Yuesong Wang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

Abstract: A total centroid state estimation method as well as a humanoid robot and a computer readable storage medium using the same are provided. The method includes: obtaining a motion state of each real joint of the humanoid robot and a motion state of its floating base, where the floating base is equivalent to a plurality of sequent-connected virtual joints; calculating a joint position, a centroid position, and a rotation matrix of each link in the world coordinate system in sequence using the chain rule of homogeneous multiplication according to the position of the joint corresponding to the link to solve a Jacobian matrix of the centroid of the link; solving a total centroid Jacobian matrix based on the Jacobian matrix of the centroid of each link and the total mass; and calculating the total centroid velocity based on the total centroid Jacobian matrix and other parameters.

公开(公告)号：US20220009095A1

公开(公告)日：2022-01-13

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

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：US20210221455A1

公开(公告)日：2021-07-22

申请号：US17092347

申请日：2020-11-09

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B62D57/032

Abstract: The present disclosure provides a legged robot continuous hopping control method as well as a legged robot and a computer readable storage medium using the same. The method includes: dividing each of the phases into a desired entry stage, an actual entry stage, a during stage, and an exit and state transiting stage; detecting a transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase to obtain a corresponding state detecting result; updating state information of the robot based on the state detecting result; and controlling the robot to continuously hop by transiting between the stages of the acceleration phase, the flight phase, and the deceleration phase according to the updated state information. In this manner, the stability of the continuous hopping of the legged robot can be greatly improved.

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：US20200209890A1

公开(公告)日：2020-07-02

申请号：US16587069

申请日：2019-09-30

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Yuesong Wang ,  Mingguo Zhao

IPC: G05D1/08 ,  B25J13/08 ,  B25J9/16

Abstract: The present disclosure provides a robot centroid position adjustment method as well as an apparatus and a robot using the same. The method includes: obtaining initial values; obtaining a waist velocity adjustment value; calculating a current value of the centroid position; and determining whether a current value of the centroid position is equal to the planning value of the centroid position; if the current value of the centroid position is not equal to the planning value of the centroid position, obtaining the current value of the centroid position to take as an initial value of a next centroid position and returning to the step of obtaining the waist velocity adjustment value until the current value of the centroid position is equal to the planning value of the centroid position. In such a manner, the balance ability of the robot can be improved.