公开(公告)号：US20190152061A1

公开(公告)日：2019-05-23

申请号：US16161077

申请日：2018-10-16

Applicant: UBTECH Robotics Corp

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

IPC: B25J9/16 ,  G10H1/00

Abstract: The present disclosure relates to a motion control method and device for a robot, and a robot with enhanced motion control. The method includes: receiving audio information by an audio receiver of the audio processing device in response to a key of an instrument being pressed, wherein the instrument is disposed within a default distance from the audio receiver; decoding the audio information and transforming the audio information into audio signals hs an audio decoder of the audio processing device; determining an expected movement of at least one joint of the robot according to a sound-freedom mapping table, and generating an adjustment message; receiving Joint-location information of the joint of the robot at a current moment; and driving the joint of the robot by the servo according to the adjustment message and the joint-location information.

公开(公告)号：US12226903B2

公开(公告)日：2025-02-18

申请号：US17732568

申请日：2022-04-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Qiuyue Luo ,  Ligang Ge ,  Yizhang Liu ,  Chunyu Chen ,  Jie Bai

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

Abstract: A method for controlling gait of a biped robot includes: collecting a lateral center of mass (CoM) speed and a lateral CoM position of the biped robot when the biped robot walks in place; calculating phase variables of virtual constraints corresponding to the CoM of the biped robot in a first phase and a second phase according to the lateral CoM speed and the lateral CoM position; constructing motion trajectory calculation equations for the biped robot based on the phase variables corresponding to the first phase and the second phase, respectively; and finding inverse solutions for joints of the biped robot using the motion trajectory calculation equations to obtain joint angles corresponding to each of the joints of the biped robot to realize gait control.

公开(公告)号：US20240399567A1

公开(公告)日：2024-12-05

申请号：US18424323

申请日：2024-01-26

Applicant: Ubtech Robotics Corp Ltd

Inventor： BO TAO ,  Chunyu Chen

IPC: B25J9/16 ,  B60L15/20 ,  B62D57/028

Abstract: A robot control method includes: building a two-wheeled inverted pendulum model based on a wheel-legged robot; constructing initial state-space equations based on the two-wheeled inverted pendulum model; linearizing the initial state-space equations to obtain the state-space equations for a linear time-invariant system; obtaining a quadratic performance objective function according to the state-space equations for the linear time-invariant system; and solving the quadratic performance objective function by a linear quadratic regulator to obtain wheel torques of the wheel-legged robot, and controlling the wheel-legged robot according to the wheel torques.

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：US20240217108A1

公开(公告)日：2024-07-04

申请号：US18395610

申请日：2023-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XUAN LUO ,  Chunyu Chen

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1664

Abstract: A method for avoiding singularities of a robotic arm includes: calculating a virtual environment external force required by the robotic arm to avoid singularities based on current joint positions of joints on the robotic arm when it is determined that the robotic arm needs to avoid singularities; obtaining a current end force of the robotic arm and a desired end trajectory of the robotic arm; performing admittance control calculation based on the virtual environment external force, the current end force and the desired end trajectory to obtain a corrected end trajectory of the robotic arm; and controlling the robotic arm to move based on the corrected end trajectory.

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.