公开(公告)号：US12122468B2

公开(公告)日：2024-10-22

申请号：US17562985

申请日：2021-12-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Hongge Wang ,  Ligang Ge ,  Yizhang Liu ,  Jie Bai ,  Chunyu Chen ,  Xingxing Ma ,  Jiangchen Zhou ,  Youjun Xiong

IPC: B62D57/032 ,  B25J9/16

CPC classification number: B62D57/032 ,  B25J9/1664

Abstract: A stepping down trajectory planning method as well as a robot using the same and a computer readable storage medium are provided. The method includes: dividing a stepping down process of the robot into a plurality of planned stages; adjusting a start position of a swing leg of the robot according to an ankle-to-heel distance, where the ankle-to-heel distance is a horizontal distance between an ankle joint of the swing leg of the robot and a heel of the swing leg of the robot; determining an initial state and an end state of the swing leg in each of the planned stages according to the start position; and obtaining a planned trajectory of the swing leg by performing a curve fitting on the swing leg in each of the planned stages the initial state and the end state.

公开(公告)号：US20240286282A1

公开(公告)日：2024-08-29

申请号：US18395309

申请日：2023-12-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YULONG GU ,  Youjun Xiong ,  Simin Zhang ,  Yun Zhao

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1661 ,  B25J9/161 ,  B25J9/1653 ,  B25J19/022

Abstract: A method for determining a pose of a robot having a lidar including: obtaining a first pose of the robot in a map coordinate system; determining first positions of laser points corresponding to the lidar in the map coordinate system according to the first pose when the lidar performs laser scanning; determining matching scores between the first positions and grids where the first positions are located according to the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system; determining a first confidence level for the first pose based on the matching scores; and determining a target pose according to the first confidence level.

公开(公告)号：US11938635B2

公开(公告)日：2024-03-26

申请号：US17702819

申请日：2022-03-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhihao Zhang ,  Yizhang Liu ,  Jinliang Chen ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1607

Abstract: A motion control method, a robot controller, and a computer readable storage medium are provided. The method includes: calculating an inverse Jacobian matrix of a whole-body generalized coordinate vector at a current time relative to an actual task space vector of a humanoid robot; calculating a target generalized coordinate vector corresponding to a to-be-executed task space vector at a current moment by combining an actual task space vector and the to-be-executed task space vector into a null space of the inverse Jacobian matrix according to preset position constraint(s) corresponding to the whole-body generalized coordinate vector; and controlling a motion state of the humanoid robot according to the target generalized coordinate vector. In this manner, the motion of the humanoid robot is optimized as a whole to achieve the purpose of controlling the humanoid robot to avoid the limits of the motion of joints.

公开(公告)号：US11919162B2

公开(公告)日：2024-03-05

申请号：US17134155

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Wei He ,  Youjun Xiong

IPC: G06F13/40 ,  A63H33/04 ,  B25J9/16

CPC classification number: B25J9/1617 ,  A63H33/04 ,  G06F13/4068 ,  G05B2219/40304

Abstract: An identification (ID) number setting method for a modular device that comprises a master building element and a plurality of slave building elements that are connected to the master building element, includes: disconnecting the slave building elements from the master building element; setting ID numbers of all of the slave building elements to be a preset ID number; and assigning new ID numbers to slave building elements of N tiers that are connected to one output interface of the master building element in an order from first tier to Nth tier, wherein the slave building elements of the first tier are slave building elements that are directly connected to the output interface, the slave building elements of the Nth tier are slave building elements that are indirectly connected to the output interface through slave building elements of a (N−1)th tier, N is a natural number greater than 1.

公开(公告)号：US11901668B2

公开(公告)日：2024-02-13

申请号：US16926634

申请日：2020-07-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Wei He ,  Youjun Xiong

IPC: H01R13/62 ,  B25J9/08 ,  B25J13/08 ,  B25J19/00 ,  H01R13/66

CPC classification number: H01R13/6205 ,  B25J9/08 ,  B25J13/087 ,  B25J19/0025 ,  H01R13/6683

Abstract: A modular device includes a polyhedral building element having a first type connector and a number of second type connectors; and a main control module comprising a plurality of second type connectors. The first type connector and the second type connectors are disposed on side surfaces of the building element. One of the second type connectors of the main control module is used to magnetically connect with the first type connector of the building element so as to detachably connect the building element to the main control module. The first type connector includes a first detection circuit, and each second type connector includes a second detection circuit.

公开(公告)号：US20240017404A1

公开(公告)日：2024-01-18

申请号：US18371472

申请日：2023-09-22

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16

CPC classification number: B25J9/1628

Abstract: A robot step length control method, a robot controller, and a computer-readable storage medium are provided. The method includes: if it detects that a humanoid robot is not in a balanced state at a current time, it correspondingly obtains a torso deflection posture parameter, a lower limb parameter and a leg swing frequency of the legs of the humanoid robot at the current time; and it calculates, using a swinging leg capture point algorithm, a calculated step length for maintaining a stable state of the humanoid robot that meets a posture balance requirement of the robot at the current time based on the torso deflection posture parameter, the lower limb parameter, and the leg swing frequency, so that the humanoid robot can be restored to the balanced state after moving with the calculated step length, thereby improving the anti-interference ability of the robot.

公开(公告)号：US11850747B2

公开(公告)日：2023-12-26

申请号：US17112569

申请日：2020-12-04

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Miaochen Guo ,  Jun Cheng ,  Jingtao Zhang ,  Shuping Hu ,  Dong Wang ,  Jianxin Pang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J19/02 ,  G06N3/08

CPC classification number: B25J9/161 ,  B25J9/1697 ,  B25J19/023 ,  G06N3/08

Abstract: The present disclosure provides an action imitation method as well as a robot and a computer readable storage medium using the same. The method includes: collecting a plurality of action images of a to-be-imitated object; processing the action images through a pre-trained convolutional neural network to obtain a position coordinate set of position coordinates of a plurality of key points of each of the action images; calculating a rotational angle of each of the linkages of the to-be-imitated object based on the position coordinate sets of the action images; and controlling a robot to move according to the rotational angle of each of the linkages of the to-be-imitated object. In the above-mentioned manner, the rotational angle of each linkage of the to-be-imitated object can be obtained by just analyzing and processing the images collected by an ordinary camera without the help of high-precision depth camera.

公开(公告)号：US20230398684A1

公开(公告)日：2023-12-14

申请号：US18236395

申请日：2023-08-21

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： JIAJUN WANG ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

CPC classification number: B25J9/1628 ,  B25J13/085 ,  B25J9/1607 ,  G05B19/4155 ,  G05B2219/50391

Abstract: A method for detecting contact of a swinging leg of a robot with ground includes: obtaining a torque on each joint of the swinging leg when the robot is in a swing phase; estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot; and determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.

公开(公告)号：US11780085B2

公开(公告)日：2023-10-10

申请号：US17107966

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Mingguo Zhao ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/032 ,  B62D57/02

CPC classification number: B25J9/163 ,  B25J9/1607 ,  B25J9/1633 ,  B25J9/1638 ,  B25J13/088 ,  B62D57/02 ,  B62D57/032

Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.

公开(公告)号：US20230294281A1

公开(公告)日：2023-09-21

申请号：US18200417

申请日：2023-05-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHE XU ,  Mingguo Zhao ,  Youjun Xiong

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

CPC classification number: B25J9/163 ,  B62D57/032 ,  B25J9/1633 ,  B25J9/1607 ,  B25J13/085

Abstract: A multi-legged robot load balancing method, a multi-legged robot, and a storage medium are provided. The method includes: calculating a current position and velocity of a load positioned on a torso according to a value measured by a force sensor; calculating, through a feedback control law, a desired posture of the torso required for keeping a balance of the load according to the current position and the current velocity of the load; determining an expected position of virtual joints according to the desired posture of the torso, and calculating, using a full dynamics control algorithm of the robot, a joint torque for each real joint of the robot according to the expected position; and transmitting the calculated joint torques to the corresponding real joints so that the torso is moved to reach the desired posture by moving the corresponding real joints.