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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.
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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.
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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
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.
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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
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.
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公开(公告)号：US20220203521A1
公开(公告)日：2022-06-30
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: B25J9/16
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.
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Patent Agency Ranking
公开(公告)号：US11230001B2
公开(公告)日：2022-01-25
申请号：US16572637
申请日：2019-09-17
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Youjun Xiong , Ligang Ge , Yizhang Liu , Chunyu Chen , Zheng Xie , Jianxin Pang
IPC: B25J9/00 , B25J13/08 , B25J9/16 , B62D57/032
Abstract: There are a biped robot gait control method and a biped robot, where the method includes: obtaining six-dimensional force information, and determining a motion state of two legs of the biped robot; calculating a ZMP position of each of two legs of the biped robot; determining a ZMP expected value of each of the two legs in real time; obtaining a compensation angle of an ankle joint of each of the two legs of the biped robot by inputting the ZMP position, a change rate of the ZMP position, the ZMP expected value, and a change rate of the ZMP expected value to an ankle joint smoothing controller so as to perform a close-loop ZMP tracking control on each of the two legs; adjusting a current angle of the ankle joint of each of the two legs of the biped robot in real time; and repeating the forgoing steps.
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公开(公告)号：US20210331753A1
公开(公告)日：2021-10-28
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
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.
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公开(公告)号：US20210181765A1
公开(公告)日：2021-06-17
申请号：US17114526
申请日：2020-12-08
Applicant: Ubtech Robotics Corp Ltd
Inventor： Jie Bai , Ligang Ge , Yizhang Liu , Hongge Wang , Jianxin Pang , Youjun Xiong
IPC: G05D1/08 , B62D57/02 , G05D1/02 , G05B19/4155
Abstract: A computer-implemented gait planning method includes: determining a pitch angle between a foot of the robot and a support surface where the robot stands; determining a support point on a sole of the foot according to the pitch angle; calculating an ankle-foot position vector according to the support point, wherein the ankle-foot position vector is a position vector from an ankle of the robot to a support point on a sole of the foot; calculating a magnitude of change of an ankle position according to the pitch angle and the ankle-foot position vector; and obtaining a compensated ankle position by compensating the ankle position according to the magnitude of change of the ankle position.
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公开(公告)号：US20210178587A1
公开(公告)日：2021-06-17
申请号：US17120225
申请日：2020-12-13
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Hongge Wang , Youjun Xiong , Jianxin Pang
IPC: B25J9/16 , B25J13/08 , B62D57/032
Abstract: A robot 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 COM of a body of the robot based on the force information; updating a motion trajectory of the robot according to the zero moment point of the COM of the body 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 a left leg and a right leg of the robot; and controlling the robot to move according to the joint angles.
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公开(公告)号：US12275152B2
公开(公告)日：2025-04-15
申请号：US18071462
申请日：2022-11-29
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Ligang Ge , Yizhang Lìu , Chunyu Chen , Qiuyue Luo , Jiangchen Zhou , Meng Yan , Youjun Xiong
IPC: G05B19/4155 , B25J9/16
Abstract: A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.
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