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31.发明申请公开(公告)号：US20230046296A1
公开(公告)日：2023-02-16
申请号：US17704011
申请日：2022-03-25
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yisen Hu , Wenguang Wang , Hongyu Ding
Abstract: A robot joint configuration determining method, a robot using the same, and a computer readable storage medium are provided. The method includes: simulating a joint model of a first joint of the robot using first motion deviation data to obtain first result data; simulating the joint model using second motion deviation data to obtain second result data; taking the motion deviation data corresponding to one of the first result data and the second result data meeting one or more preset conditions as a target motion deviation data for the first joint; and determining type information of a reducer in a configuration information of the first joint based on the target motion deviation data. In the present disclosure, the motion deviation of the first joint that is relatively accurate can be obtained through the results of the two simulations.
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公开(公告)号：US11565762B2
公开(公告)日：2023-01-31
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
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.
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公开(公告)号：US20220388169A1
公开(公告)日：2022-12-08
申请号：US17726548
申请日：2022-04-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Ligang Ge , Chunyu Chen , Yizhang Liu , Youjun Xiong
IPC: B25J9/16
Abstract: A method for generating a center of mass (CoM) trajectory includes determining an actual pose of a center of mass (CoM), a pose of a left foot, and a pose of a right pose of a robot; determining a first pose tracking vector of the robot according to the actual pose of the CoM and the pose of the left foot, and determining a second pose tracking vector of the robot according to the actual pose of the CoM and the pose of the right foot; and controlling a desired pose of the CoM of the robot to alternately track the pose of the left foot and the pose of the right foot, according to the first pose tracking vector and the second pose tracking vector, so as to generate a desired CoM trajectory of the robot.
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34.发明申请公开(公告)号：US20220379469A1
公开(公告)日：2022-12-01
申请号：US17702769
申请日：2022-03-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xianwen Zeng , Yizhang Liu , Youjun Xiong
Abstract: A massage motion control method, a robot controller using the same, and a storage medium are provided. The method includes: calculating a robot end desired speed and a robot end desired angular speed corresponding to a desired massage trajectory of a massage robot to compensate using two obtained robot end compensation amounts in the case that the desired massage trajectory for a target massage area at a current control cycle, a robot end speed compensation amount meeting a desired massage intensity requirement, and a robot end angular speed compensation amount adapted to an environmental curvature of the target massage area are obtained, and controlling the massage robot by determining a corresponding to-be-outputted joint angle based on motion parameter(s) obtained by the compensation. In this manner, the adaptive change of the massage position and the massage intensity for the massage area of the patient can be realized.
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公开(公告)号：US20220371187A1
公开(公告)日：2022-11-24
申请号：US17325221
申请日：2021-05-20
Inventor： Yang Shen , Dejun Guo , ChengKun Zhang , Huan Tan
IPC: B25J9/16
Abstract: A design method of serial manipulator that comprises an end effector, a number of random-access links, and a number of motors, includes: obtaining a desired motion profile of the end effector; discretizing the desired motion profile into a plurality of points, wherein each of the points carries information of speed, acceleration, and force/torque of the end effector at the point; determining the number of degrees of freedom of the serial manipulator, and initializing the length of each of the links and the motor type of each of the motors; and at each of the points, optimizing the initialized lengths of the links and the motor types of the motors by calculating a dynamic manipulability ellipsoid at the end effector, to obtain desired lengths of the links and desired motor types of the motors, which allows the end effector to execute the desired motion profile under predetermined constraints.
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Patent Agency Ranking
公开(公告)号：US20220355479A1
公开(公告)日：2022-11-10
申请号：US17678030
申请日：2022-02-23
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Yizhang Liu , Ligang Ge , Chunyu Chen , Qiuyue Luo , Youjun Xiong
IPC: B25J9/16
Abstract: A gait planning method and a robot using the same as well as a computer readable storage medium are provided. The method includes: determining a reference leg length l0 and a leg length variation range A of a robot; performing a trajectory planning on a length of at least one of the legs of the robot using; an equation including the reference leg length, the leg length variation range, and a preset recurrent excitation function of a time variable t. In this manner, the trajectory planning for the leg length of the robot during motion is performed according to the characteristics of motion scene such as robot jumping or running so that the change of the leg length of the robot is adapted to the motion process, which greatly improves the stability of the robot in the motion scene such as jumping or running.
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公开(公告)号：US20220335966A1
公开(公告)日：2022-10-20
申请号：US17232934
申请日：2021-04-16
Inventor： David AYLLÓN ÁLVAREZ , Yi ZHENG , Huan TAN
IPC: G10L25/78 , H04S3/00 , H04R1/40 , H04R3/00 , G10L15/16 , G10L15/22 , G10L15/02 , G10L25/24 , G10L25/18 , G06N3/04 , G06N3/08
Abstract: Embodiments of the disclosure provide systems and methods for speech detection. The method may include receiving a multichannel audio input that includes a set of audio signals from a set of audio channels in an audio detection array. The method may further include processing the multichannel audio input using a neural network classifier to generate a series of classification results in a series of time windows for the multichannel audio input. The neural network classifier includes a causal temporal convolutional network (TCN) configured to determine a classification result for each time window based on portions of the multichannel audio input n the corresponding time window and one or more time windows before the corresponding time window. The method may additionally include determining whether the multichannel audio input includes one or more speech segments in the series of time windows based on the series of classification results.
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公开(公告)号：US11472024B2
公开(公告)日：2022-10-18
申请号：US17133656
申请日：2020-12-24
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yan Xie , Xiaozhu Ju , Mingguo Zhao , Youjun Xiong
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.
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公开(公告)号：US20220327739A1
公开(公告)日：2022-10-13
申请号：US17721313
申请日：2022-04-14
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Xiangbin Huang , Wenzhi Xu , Gaobo Huang
Abstract: A pose calibration method, a robot, and a computer readable storage medium are provided. The method includes: obtaining, through a depth camera on a robot, a depth image including a target plane (i.e., a plane where the robot is located); determining point cloud data corresponding to the depth image; and calibrating a target pose of the depth camera based on the point cloud data and a preset optimization method, that is, calibrating a pitch angle and a roll angle of the depth camera and a height of the depth camera in a coordinate system of the robot. In this manner, the accuracy of the calibration of the target pose can be effectively improved while simple in implementation and small in calculation amount, and the efficiency of the calibration of the target pose can be improved so as to improve the user experience.
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公开(公告)号：USD963722S1
公开(公告)日：2022-09-13
申请号：US29797012
申请日：2021-06-28
Designer： Francisco Jose Hernandez , Brandon Jon LaPlante , Jiexin Cai , ChengKun Zhang , Huan Tan
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