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    Dynamic footprint set generation method, biped robot using the same, and computer readable storage medium
    52.
    发明授权
    Dynamic footprint set generation method, biped robot using the same, and computer readable storage medium 有权

    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.

    Gait planning method and robot using the same and computer readable storage medium
    53.
    发明授权
    Gait planning method and robot using the same and computer readable storage medium 有权

    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.

    ARM ANGLE INTERVAL SOLVING METHOD AND ROBOTIC ARM USING THE SAME
    54.
    发明公开
    ARM ANGLE INTERVAL SOLVING METHOD AND ROBOTIC ARM USING THE SAME 审中-公开

    公开(公告)号：US20240001546A1

    公开(公告)日：2024-01-04

    申请号：US18369225

    申请日：2023-09-18

    Applicant: UBTECH ROBOTICS CORP LTD

    Inventor： ZHIHAO ZHANG ,  Yizhang Liu ,  Jinliang Chen ,  Youjun Xiong

    IPC: B25J9/16

    CPC classification number: B25J9/163 ,  B25J9/1653

    Abstract: A robotic arm angle interval inverse solving method and a robotic arm using the same are provided. The method includes: obtaining a joint angle calculation model and a differential relationship model of a target joint of the robotic arm; obtaining extreme arm angles corresponding to a joint angle of the differential relationship model at extreme values based on the differential relationship model; obtaining a joint arm angle interval corresponding to the target joint based on the extreme arm angle and the joint angle calculation model; and obtaining a target arm angle interval corresponding to the robotic arm based on the joint arm angle interval corresponding to the target joint of the robotic arm. In comparison with the existing method to solve the arm angle interval of the robotic arm, a more accurate arm angle interval can be obtained.

    GAIT PLANNING METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM
    55.
    发明公开
    GAIT PLANNING METHOD, ROBOT AND COMPUTER-READABLE STORAGE MEDIUM 审中-公开

    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.

    Robot balance control method, computer-readable storage medium and robot
    58.
    发明授权
    Robot balance control method, computer-readable storage medium and robot 有权

    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.

    CONTROL METHOD FOR ROBOT, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT
    60.
    发明申请
    CONTROL METHOD FOR ROBOT, COMPUTER-READABLE STORAGE MEDIUM AND ROBOT 有权

    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.

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