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：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.

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.

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.

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.