公开(公告)号：US12076860B2

公开(公告)日：2024-09-03

申请号：US17561609

申请日：2021-12-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B62D57/032 ,  B25J9/16 ,  B62D57/024

CPC classification number: B25J9/1602 ,  B25J9/1633

Abstract: A control method for a robot includes: determining a desired zero moment point (ZMP) of the robot; obtaining a position of a left foot and a position of a right foot of the robot, and calculating desired support forces of the left foot and the right foot according to the desired ZMP, the positions of the left foot and the right foot; obtaining measured support forces of the left foot and the right foot, and calculating an amount of change in length of the left leg and an amount of change in length of the right leg according to the desired support forces of the left foot and the right foot, the measured support forces of the left foot and the right foot; and controlling the robot to walk according to the amount of change in length of the left leg and the right leg.

公开(公告)号：US12005584B2

公开(公告)日：2024-06-11

申请号：US17488341

申请日：2021-09-29

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1653 ,  B25J9/1607 ,  B25J9/1664 ,  B25J13/088

Abstract: A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.

公开(公告)号：US11983012B2

公开(公告)日：2024-05-14

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: G05D1/00 ,  B62D57/032

CPC classification number: G05D1/0214 ,  G05D1/0231 ,  B62D57/032

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：US11926056B2

公开(公告)日：2024-03-12

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: G06F17/00 ,  B25J9/16

CPC classification number: B25J9/1664

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.

公开(公告)号：US20240009842A1

公开(公告)日：2024-01-11

申请号：US18218604

申请日：2023-07-06

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： QIUYUE LUO ,  Ligang Ge ,  Chunyu Chen ,  Xuan Luo

IPC: B25J9/16

CPC classification number: B25J9/1664

Abstract: A method for controlling a robot based on a trajectory of a center of mass (COM) of the robot includes: calculate a desired periodic trajectory of the robot in a single gait cycle based on a dynamic equation constructed according to a simplified model of the robot; correct the desired periodic trajectory according to a fed-back state of the COM of the robot; generate a desired trajectory of the COM of the robot using the corrected desired periodic trajectory; and control motion of the robot according to the desired trajectory of the COM of the robot.

公开(公告)号：US20230278212A1

公开(公告)日：2023-09-07

申请号：US18091292

申请日：2022-12-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： QIUYUE LUO ,  Yizhang Liu ,  Ligang Ge ,  Chunyu Chen ,  Jiangchen Zhou ,  Meng Yen

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1602 ,  B25J9/1653 ,  B25J9/163

Abstract: A gait planning method for a robot includes: constructing a first phase variable of a gait planning of the robot, wherein the first phase variable is a function of two position components of a torso of the robot on a horizontal plane; constructing a second phase variable based on the first phase variable, wherein the second phase variable is a function of the first phase variable, and a slope of the second phase variable is smaller than a slope of the first phase variable when a foot of a swing leg of the robot starts to touch a support surface; and performing the gait planning on the foot of the swing leg using the second phase variable to obtain a planned trajectory of the foot of the swing leg.

公开(公告)号：US20230271656A1

公开(公告)日：2023-08-31

申请号：US18144160

申请日：2023-05-05

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B62D57/032 ,  G01M1/12 ,  B25J9/16 ,  B25J13/08

CPC classification number: B62D57/032 ,  G01M1/122 ,  B25J9/161 ,  B25J9/1633 ,  B25J13/085

Abstract: A robot state estimation method, a computer-readable storage medium, and a legged robot are provided. The method includes: obtaining force information of a left leg of a robot and a right leg of the robot; calculating a ZMP of the robot in a world coordinate system based on the force information of the left leg and the force information of the right leg; and calculating a position of a center of mass (CoM) of the robot based on a preset linear inverted pendulum model. In this manner, a brand-new linear inverted pendulum model is constructed in advance, which uses the ZMP of the robot as a supporting point of the model, thereby fully considering the influence of the change of the position of the ZMP of the robot on the position of the CoM.

公开(公告)号：US11604466B2

公开(公告)日：2023-03-14

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: B25J9/16 ,  B62D57/02 ,  G05D1/02 ,  G05B19/4155 ,  G01L5/16

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：US11560192B2

公开(公告)日：2023-01-24

申请号：US16885227

申请日：2020-05-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Jie Bai ,  Ligang Ge ,  Hongge Wang ,  Yizhang Liu ,  Shuping Hu ,  Jianxin Pang ,  Youjun Xiong

IPC: B62D57/02 ,  G05D1/08 ,  B25J9/16 ,  G06F17/18 ,  B25J19/02

Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.

公开(公告)号：US20220203522A1

公开(公告)日：2022-06-30

申请号：US17561629

申请日：2021-12-23

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B62D57/02

Abstract: A robot control method includes: determining a planned capture point and a measured capture point of the robot so as to calculate a capture point error of the robot; obtaining positions of a left foot and a right foot of the robot, and a planned zero moment point (ZMP) of the robot so as to calculate desired support forces of the left foot and the right foot; calculating desired torques of the left foot and the right foot according to the capture point error, the desired support forces of the left foot and the right foot; obtaining measured torques of the left foot and the right foot so as to calculate desired poses of the left foot and the right foot; and controlling the robot to walk according to the desired poses of the left foot and the desired pose of the right foot.