公开(公告)号：US12257725B2

公开(公告)日：2025-03-25

申请号：US17976904

申请日：2022-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Ligang Ge ,  Yizhang Liu ,  Jiangchen Zhou ,  Qiuyue Luo ,  Youjun Xiong

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

Abstract: A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.

公开(公告)号：US12103187B2

公开(公告)日：2024-10-01

申请号：US17516729

申请日：2021-11-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xingxing Ma ,  Chunyu Chen ,  Ligang Ge ,  Yizhang Liu ,  Hongge Wang ,  Jie Bai ,  Zheng Xie ,  Jiangchen Zhou ,  Meihui Zhang ,  Shuo Zhang ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/032 ,  G05D1/43 ,  G05D1/622 ,  G05D1/644 ,  G05D109/12

CPC classification number: B25J9/1666 ,  B62D57/032 ,  G05D1/43 ,  G05D1/637 ,  G05D1/644 ,  G05D2109/12

Abstract: A path planning method and a biped robot using the same are provided. The method includes: generating a candidate node set for a next foot placement based on a biped robot's own parameters and joint information of a current node, adding valid candidate nodes in the candidate node set to a priority queue so as to select optimal nodes for realizing next node expansion. These optimal nodes are output to generate a foot placement sequence from an initial node to a target node, which can greatly reduce the search amount for path nodes when the robot's legs intersect and touch the ground, thereby improving the efficiency of path planning.

公开(公告)号：US12097621B2

公开(公告)日：2024-09-24

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 ,  B62D57/032 ,  G06F11/10 ,  G06F17/10 ,  G06F30/17 ,  G06F30/20

CPC classification number: B25J9/1664

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.

公开(公告)号：US12053885B2

公开(公告)日：2024-08-06

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 ,  B62D57/032 ,  G05D1/08

CPC classification number: B25J9/1602 ,  B25J9/1633 ,  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.

公开(公告)号：US20230415333A1

公开(公告)日：2023-12-28

申请号：US18210026

申请日：2023-09-19

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1602 ,  G05B19/4155 ,  G05B2219/40244

Abstract: A center of mass (COM) planning method includes: obtaining a planning position of the COM and a planning speed of the COM of a robot, and calculating a planning capture point of the robot according to the planning position of the COM and the planning speed of the COM; obtaining a measured position of the COM and a measured speed of the COM, and calculating a measured capture point of the robot according to the measured position the measured speed; calculating a desired zero moment point (ZMP) of the robot based on the planning capture point and the measured capture point; obtaining a measured ZMP of the robot, and calculating an amount of change in a position of the COM according to the desired ZMP and the measured ZMP; and correcting the planning position of the COM according to the amount of change in the position of the COM.

公开(公告)号：US11691284B2

公开(公告)日：2023-07-04

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

CPC classification number: B25J9/1664 ,  B25J9/1651 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088 ,  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.

公开(公告)号：US20230182307A1

公开(公告)日：2023-06-15

申请号：US17976904

申请日：2022-10-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHUNYU CHEN ,  Ligang Ge ,  Yizhang Liu ,  Jiangchen Zhou ,  Qiuhue Luo ,  Youjun Xiong

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

CPC classification number: B25J9/1692 ,  B62D57/032 ,  B25J9/1664 ,  B25J13/089

Abstract: A jumping motion control method for a biped robot includes: before feet of the biped robot leaves a support surface, estimating a motion trajectory of the biped robot that leaves the support surface according to a period of time when the biped robot stays or flips in the air; calculating a first motion angle of each joint of legs of the biped robot according to the motion trajectory and inverse kinematics; determining a constraint condition according to a motion type to which an action to be performed by the biped robot corresponds; optimizing the first motion angles according to the constraint condition to obtain a second motion angle of each joint of legs of the biped robot; and controlling a jumping motion of the biped robot according to the second motion angles.

公开(公告)号：US20230182297A1

公开(公告)日：2023-06-15

申请号：US18070313

申请日：2022-11-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： CHUNYU CHEN ,  Ligang Ge ,  Yizhang Liu ,  Jiangchen Zhou ,  Qiuyue Luo ,  Youjun Xiong

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

CPC classification number: B25J9/1664 ,  B25J9/1607 ,  B25J9/1638 ,  B25J9/1651 ,  B25J13/088 ,  B62D57/032

Abstract: A method of controlling a robot includes: obtaining an inertia matrix and a slack variable of the robot, and determining a momentum equation of the robot according to the inertia matrix and the slack variable; obtaining reference joint angles corresponding to a reference action of the robot; determining an optimization objective function of the momentum equation according to a first preset weight coefficient of the slack variable and a second preset weight coefficient of the reference joint angles; and determining joint angles of the robot according to the optimization objective function, and driving the robot to move according to the joint angles of the robot.

公开(公告)号：US20230133934A1

公开(公告)日：2023-05-04

申请号：US18089588

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou ,  Qiuyue Luo ,  Youjun Xiong

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

Abstract: A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.

公开(公告)号：US11602843B2

公开(公告)日：2023-03-14

申请号：US16932872

申请日：2020-07-20

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B25J5/00

Abstract: The present disclosure provides a foot-waist coordinated gait planning method and an apparatus and a robot using the same. The method includes: obtaining an orientation of each foot of the legged robot, and calculating a positional compensation amount of each ankle of the legged robot based on the orientation of the foot; obtaining an orientation of a waist of the legged robot, and calculating a positional compensation amount of each hip of the legged robot based on the orientation of the waist; calculating a hip-ankle positional vector of the legged robot; compensating the hip-ankle positional vector based on the positional compensation amount of the ankle and the positional compensation amount of the hip to obtain the compensated hip-ankle positional vector; and performing an inverse kinematics analysis on the compensated hip-ankle positional vector to obtain joint angles of the legged robot.