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公开(公告)号：US20210162595A1
公开(公告)日：2021-06-03
申请号：US16932872
申请日：2020-07-20
发明人： Jie Bai , Ligang Ge , Yizhang Liu , Hongge Wang , Jianxin Pang , Youjun Xiong
摘要： The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.
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公开(公告)号：USD921082S1
公开(公告)日：2021-06-01
申请号：US29734165
申请日：2020-05-09
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公开(公告)号：US11020683B2
公开(公告)日：2021-06-01
申请号：US16727949
申请日：2019-12-27
发明人： Xiongyuan Fang , Youjun Xiong , Tao Bai
摘要： A building block includes at least one of a plug portion and a socket portion. The plug portion has two cantilevered tongues deflectable toward each other. Each cantilevered tongue includes a first engaging portion. The socket portion defines a chamber and has two second engaging portions. The plug portion and the socket portion are configured in such a way that the plug portion of one building block is insertable into the chamber of the socket portion of another building block, and the two cantilevered tongues of the building block deflect toward each other after insertion of the plug portion of the building block into the chamber of the socket portion of the other building block, which allows the first engaging portions of the building block to be engaged with the second engaging portions of the other building block, thereby connecting the two building blocks together.
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公开(公告)号：US11007639B2
公开(公告)日：2021-05-18
申请号：US16669554
申请日：2019-10-31
发明人： Yuesong Wang , Youjun Xiong
摘要： The present disclosure provides a joint control method for a serial robot and a serial robot using the same. The method includes: performing a analysis on an end joint in the plurality of joints, and calculating the force of the previous joint acting on the end joint; performing a analysis on each of the other joints in the plurality of joints, and calculating the force of the previous joint acting on the joint; obtaining an angular velocity and an angular acceleration of each joint after obtaining the force of the previous joint acting on the joint, and calculating a torque corresponding to each joint; and projecting the torque corresponding to each joint to a motor corresponding to the joint to obtain a torque to be applied to the motor at a current time. In this manner, which improves the tracking precision of the end joint while reduces the tracking error.
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公开(公告)号：USD918310S1
公开(公告)日：2021-05-04
申请号：US29687309
申请日：2019-04-12
申请人： UBTECH Robotics Corp
设计人： Yumiao Wu , Lefeng Liu , Qiujie Lin , Xinshui Huang , Youjun Xiong
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公开(公告)号：US10990107B2
公开(公告)日：2021-04-27
申请号：US16159743
申请日：2018-10-15
申请人： UBTECH Robotics Corp
发明人： Youjun Xiong , Meichun Liu , Xiaopeng Wu
IPC分类号： G05D1/02 , G01S7/481 , B62D57/032 , G01S17/931
摘要： A foot of a robot includes a lower plate, a first infrared transmitting and receiving unit and a circuit board electrically connected to the first infrared transmitting and receiving unit that are arranged on the lower plate. The first infrared transmitting and receiving unit is arranged in such a way that infrared light transmitted from and received by the first infrared transmitting and receiving unit travels in paths that are inclined with respect to the lower plate toward an area in front of the foot when the lower plate is substantially horizontal, so as to detect existence of a footing.
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公开(公告)号：US20210063577A1
公开(公告)日：2021-03-04
申请号：US16699750
申请日：2019-12-02
发明人： ZHICHAO LIU , Youjun Xiong
摘要： The present disclosure provides a robot relocalization method including: obtaining a level feature of an object in a laser map and calculating a first pose list; matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, if a distance between the level feature of the object and an initial position of a relocation of the robot is smaller than a threshold; splicing the laser subgraph point cloud into subgraphs, and performing a multi-target template matching to obtain a first matching candidate result; filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result; determining a overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.
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公开(公告)号：US10913155B2
公开(公告)日：2021-02-09
申请号：US16022709
申请日：2018-06-29
申请人： UBTECH Robotics Corp
发明人： Youjun Xiong , Gaobo Huang , Jiawen Hu
摘要： A robot joint controlling method includes: receiving a motion command; determining one or more joint servos that are needed to execute the motion command; and determining whether the one or more joint servos are in an occupied state, and if not, executing the motion command so as to control the one or more joint servos to operate accordingly.
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公开(公告)号：US10894319B2
公开(公告)日：2021-01-19
申请号：US16671164
申请日：2019-10-31
发明人： Yongping Zeng , Youjun Xiong , Zhongliang Wang , Dong Liu , Jianxin Pang
IPC分类号： B25J19/00 , B25J9/16 , B25J9/10 , G05F1/10 , G05B19/414
摘要： The present disclosure is provides a servo control method as well as an apparatus and a robot using the same. The method includes: obtaining a teeth force reduction multiple of a gear of a servo; creating a voltage queue based on the teeth force reduction multiple; calculating a target loading voltage corresponding to a current moment based on a voltage queue; and applying the target loading voltage on a motor of the servo, wherein the target loading voltage is for driving the motor of the servo to rotate. Through the above-mentioned method, the loading voltage can be effectively reduced when the servo is started, thereby protecting teeth of the gear of the servo and increasing the service life of the servo.
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公开(公告)号：US10891945B2
公开(公告)日：2021-01-12
申请号：US16232051
申请日：2018-12-26
发明人： Youjun Xiong , Haoming Li , Yanhui Xia , Liyang Li , Pinxiu Wen
摘要： The present disclosure discloses a method and an apparatus for judging termination of sound reception and a terminal device. The method including: performing a voice activity detection on a current sound clip to obtain a first value; performing a semantic relevance detection on the current sound clip and a next sound clip by deep learning to obtain a second value; performing a weighted calculation on the first value and the second value to obtain a third value; comparing the third value with a preset threshold; and determining whether sound reception of the current sound clip is terminated based on the comparison result.
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