公开(公告)号：US11833692B2

公开(公告)日：2023-12-05

申请号：US17115712

申请日：2020-12-08

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Dake Zheng ,  Yizhang Liu ,  Zheng Xie ,  Jianxin Pang ,  Youjun Xiong

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

CPC classification number: B25J9/1666 ,  B25J9/1605 ,  B25J9/1643 ,  G05B19/4155 ,  B25J13/08 ,  G05B2219/40269

Abstract: The present disclosure provides a method for controlling an arm of a robot, including obtaining obstacle information relating to the arm of the robot by at least one sensor, obtaining current posture information of the arm of the robot by a least one detector and obtaining an expected posture information of an end-portion of the arm of the robot, determining an expected trajectory of the end-portion of the arm of the robot, determining an expected speed of the end-portion of the arm of the robot in accordance with the expected trajectory of the end-portion, determining a virtual speed of a target point on the arm of the robot, and configuring a target join speed corresponding to a joint of the arm of the robot. Such that the redundant arm of the robot may be configured to prevent from contacting the obstacles in the complex environment while performing corresponding tasks.

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.

公开(公告)号：US11420694B2

公开(公告)日：2022-08-23

申请号：US16452532

申请日：2019-06-26

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Youjun Xiong ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jianxin Pang

IPC: B62D57/032

Abstract: The present disclosure provides a robot gait planning method and a robot with the same. The method includes: obtaining, through the sensor set, force information of feet of the robot under a force applied by a target object; calculating coordinates of zero moment points of the feet of the robot with respect to a centroid of a body of the robot based on the force information; and determining a gait planning result for the robot based on the coordinates of the zero moment points with respect to the centroid of the body. The present disclosure is capable of converting the force of the target object to the zero moment points, and using the zero moment points to perform the gait planning, so that the robot follows the target object in the case that the robot is subjected to a force of the target object.

公开(公告)号：US20220203534A1

公开(公告)日：2022-06-30

申请号：US17516729

申请日：2021-11-02

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B62D57/032 ,  G05D1/02

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：US20220194500A1

公开(公告)日：2022-06-23

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

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：US20220193896A1

公开(公告)日：2022-06-23

申请号：US17557076

申请日：2021-12-21

Applicant: UBTECH ROBOTICS CORP LTD

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

IPC: B25J9/16 ,  B62D57/02 ,  G05B19/4155

Abstract: A robot balance control method as well as a robot using the same and a computer readable storage medium are provided. In the method, a brand new flywheel model different from the existing flywheel model is created. In this flywheel model, the foot of the support leg of the robot is equivalent to the massless link of the flywheel model, while rest parts of the robot are equivalent to the flywheel of the flywheel model. Compared with the various models in the prior art, this flywheel model is more in line with the actual situation of the robot during the monoped supporting period. By controlling the posture of the foot of the support leg based on this flywheel model, a better balance effect can be achieved, which avoids the overturning of the robot.