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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.
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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.
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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.
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公开(公告)号：US11644840B2
公开(公告)日：2023-05-09
申请号：US17109099
申请日：2020-12-01
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Dake Zheng , Yizhang Liu , Zheng Xie , Jianxin Pang , Youjun Xiong
IPC: B25J9/16 , G05D1/02 , B25J13/08 , B62D57/032 , B25J11/00
CPC classification number: G05D1/0212 , B25J9/1641 , B25J9/1653 , B25J13/088 , B62D57/032 , B25J11/008
Abstract: The present disclosure provides a method for controlling end-portions of a robot. The method includes obtaining joint information of a robot by at least one sensor and determining a first posture of an end-portion of the robot in accordance with the joint information, obtaining end-portion information of the robot by the sensor and obtaining the second posture of the end-portion of the robot including the interference information in accordance with the end-portion information of the robot and the first posture of the end-portion of the robot, and conducting a closed-loop control on the robot in accordance with an error between the second posture of the end-portion of the robot and a predetermined expected posture of the end-portion of the robot.
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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.
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Patent Agency Ranking
公开(公告)号：US11560192B2
公开(公告)日：2023-01-24
申请号：US16885227
申请日：2020-05-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Jie Bai , Ligang Ge , Hongge Wang , Yizhang Liu , Shuping Hu , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.
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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
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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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.
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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.
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公开(公告)号：US20210331753A1
公开(公告)日：2021-10-28
申请号：US16885227
申请日：2020-05-27
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： JIE BAI , Ligang Ge , Hongge Wang , Yizhang Liu , Shuping Hu , Jianxin Pang , Youjun Xiong
Abstract: The present disclosure provides a stair climbing gait planning method and an apparatus and a robot using the same. The method includes: obtaining first visual measurement data through a visual sensor of the robot; converting the first visual measurement data to second visual measurement data; and performing a staged gait planning on a process of the robot to climb the staircase based on the second visual measurement data. Through the method, the visual measurement data is used as a reference to perform the staged gait planning on the process of the robot to climb the staircase, which greatly improves the adaptability of the robot in the complex scene of stair climbing.
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