公开(公告)号：US11331802B2

公开(公告)日：2022-05-17

申请号：US16734393

申请日：2020-01-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zecai Lin ,  Zhaohui An ,  Zheng Xie ,  Yizhang Liu ,  Youjun Xiong ,  Jianxin Pang

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.

公开(公告)号：US20210197370A1

公开(公告)日：2021-07-01

申请号：US17133575

申请日：2020-12-23

Applicant: UBTECH ROBOTICS CORP LTD

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

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

Abstract: A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.