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公开(公告)号：US20230168693A1
公开(公告)日：2023-06-01
申请号：US17966027
申请日：2022-10-14
发明人： Shuai WANG , Jingfan ZHANG , Jie LAI , Dongsheng ZHANG , Ke CHEN , Yu ZHENG , Zhengyou ZHANG
CPC分类号： G05D1/0891 , B25J5/007 , B25J9/1633 , B25J9/1653 , B25J13/085 , B25J19/0008 , G05D2201/0217
摘要： This application relates to the field of robot control, and provides a motion state control method and apparatus, a device, and a readable storage medium. The method includes the following steps: Step 301: Acquire basic data and motion state data, the basic data being used for representing a structural feature of a wheeled robot, and the motion state data being used for representing a motion feature of the wheeled robot. Step 302: Determine a state matrix of the wheeled robot based on the basic data and the motion state data, the state matrix being related to an interference parameter of the wheeled robot, the interference parameter corresponding to a balance error of the wheeled robot. Step 303: Determine, based on the state matrix, a torque for controlling the wheeled robot. Step 304: Control, by using the torque, the wheeled robot to be in a standstill state.
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公开(公告)号：US20240227486A1
公开(公告)日：2024-07-11
申请号：US18613322
申请日：2024-03-22
发明人： Jie LAI , Dongsheng ZHANG , Shuai WANG , Ke CHEN , Sicheng YANG , Zhengyou ZHANG
CPC分类号： B60G17/025 , B60G21/005 , B62D61/12
摘要： A mechanical leg comprises a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel. The extension and retraction driving member is located on a side of the frame. The retractable member is connected to the extension and retraction driving member. The wheel is connected to the retractable member. The wheel is further connected to the travel driving member. A first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame. The retractable member extends under the driving of the extension and retraction driving member to drive the wheel to jump. The wheel is driven by the travel driving member to move. When the auxiliary wheel contacts the ground, the mechanical leg moves with the rolling of the wheel and the auxiliary wheel.
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公开(公告)号：US20240219917A1
公开(公告)日：2024-07-04
申请号：US18598998
申请日：2024-03-07
发明人： Shuai WANG , Jingfan ZHANG , Zhaoxiang LI , Jiahao WANG , Yu ZHENG
IPC分类号： G05D1/241 , B60G17/019
CPC分类号： G05D1/241 , B60G17/019 , B60G2500/30
摘要： In a motion control method of a mobile robot, a tactile touch operation on a sensing device of the mobile robot is received. The mobile robot is controlled to perform an interactive motion of a plurality of interactive motions that is associated with the tactile touch operation. Each of the plurality of interactive motions is associated with a respective predefined tactile touch operation. The interactive motion corresponds to the tactile touch operation. At least one of a wheel portion or a base portion of the mobile robot performs a motion during the interactive motion. Apparatus and non-transitory computer-readable storage medium counterpart embodiments are also contemplated.
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4.发明公开公开(公告)号：US20240037885A1
公开(公告)日：2024-02-01
申请号：US18379108
申请日：2023-10-11
发明人： Shuai WANG , Jianquan LI , Xiaofeng CHEN , Qiwen ZHENG , Guangxin WANG
CPC分类号： G06T19/20 , G06T7/70 , G06V10/761 , G06T2219/2004
摘要： This application provides a method for controlling a virtual object in a virtual scene performed by an electronic device. The method includes: presenting, in the virtual scene, a first virtual object and at least one second virtual object that is in an action execution state of a target performance, wherein the action execution state of the target performance indicates that the second virtual object performs an action of the target performance in the virtual scene; in response to a movement control instruction for the first virtual object, controlling the first virtual object to move in the virtual scene; and during movement of the first virtual object, when a position of the first virtual object meets an execution condition of the target performance, controlling the first virtual object to automatically perform the action of the target performance.
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公开(公告)号：US20230347501A1
公开(公告)日：2023-11-02
申请号：US18350339
申请日：2023-07-11
发明人： Shuai WANG , Haitao WANG , Yuan DAI , Dongsheng ZHANG , Ke CHEN , Ruirui ZHANG , Rui WANG , Jingfan ZHANG , Jie LAI , Yu ZHENG
CPC分类号： B25J5/007 , B25J9/1653 , B25J13/088
摘要： A underactuated system robot includes a vehicle wheel portion and a base portion coupled to the vehicle wheel portion. A loaded object is placed on the base portion. The method includes: determining status information of a loaded object on a base portion; and controlling at least one of the base portion and a vehicle wheel portion to move according to the status information, so as to prevent the loaded object from falling from the base portion. In the embodiments, the base portion and/or the vehicle wheel portion can be controlled to move according to the status information of the loaded object on the base portion, to prevent the loaded object from falling from the base portion, thereby improving the stability of the underactuated system robot.
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公开(公告)号：US20230288931A1
公开(公告)日：2023-09-14
申请号：US18199681
申请日：2023-05-19
发明人： Shuai WANG , Jingfan ZHANG
CPC分类号： G05D1/021 , B25J5/007 , G05D2201/02
摘要： In a method of controlling a robot, first control information for controlling rotation of a driving wheel of a wheel-legged part of the robot is adaptively determined based on motion information of the robot that is generated while the robot is in motion. Second control information for controlling a plurality of joints of the wheel-legged part of the robot is determined based on the first control information, the plurality of joints being controlled based on the second control information to balance the robot. Third control information for controlling the plurality of joints is determined based on a target trajectory of the robot, the plurality of joints being controlled based on the third control information to move the robot along the target trajectory. A respective control torque for controlling each joint in the plurality of joints is determined based on the second control information and the third control information.
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公开(公告)号：US20240269846A1
公开(公告)日：2024-08-15
申请号：US18604360
申请日：2024-03-13
发明人： Shuai WANG , Yu Zheng , Qinqin Zhou , Wanchao Chi
IPC分类号： B25J9/16 , B25J13/08 , B62D57/032
CPC分类号： B25J9/1664 , B25J9/163 , B25J9/1674 , B25J13/085 , B25J13/089 , B62D57/032
摘要： This application provide a method for controlling the landing of a legged robot on a plane. The legged robot includes a base and at least two robotic legs, each leg including at least one joint. The method includes: determining a first expected moving trajectory and a second expected moving trajectory corresponding to the legged robot in response to determining that the legged robot is going to contact a plane, the first expected moving trajectory indicating an expected moving trajectory of a center of mass of the legged robot and an expected moving trajectory of a change in a tilt angle of the legged robot, and the second expected moving trajectory indicating an expected moving trajectory of a foot end of each robotic leg; and controlling, based on a dynamic model and the first and second moving trajectories, an action of each joint after the legged robot contacts the plane.
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公开(公告)号：US20230381964A1
公开(公告)日：2023-11-30
申请号：US18232912
申请日：2023-08-11
发明人： Shuai WANG , Jingfan Zhang
IPC分类号： B25J9/16 , B62D57/028 , B25J13/08
CPC分类号： B25J9/1664 , B62D57/028 , B25J13/089 , B25J13/085
摘要： A method and apparatus for controlling a wheel-legged robot are provided. The method includes: controlling a first wheel leg to move from a first step onto a second step, controlling a second wheel leg and an auxiliary wheel leg to be stabilized on the first step; controlling the second wheel leg to move from the first step onto the second step, controlling the first wheel leg to be stabilized on the second step, and controlling the auxiliary wheel leg to be stabilized on the first step; and controlling the auxiliary wheel leg to move from the first step onto the second step, and controlling the first wheel leg and the second wheel leg to be stabilized on the second step.
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9.发明公开公开(公告)号：US20230343054A1
公开(公告)日：2023-10-26
申请号：US18215222
申请日：2023-06-28
发明人： Shuai WANG , Jianquan LI , Xiaofeng CHEN , Qiwen ZHENG , Shuang HAO
CPC分类号： G06T19/20 , G06F3/14 , G06T2219/2024
摘要： In a method for displaying an interactive element, a first virtual object and the interactive element are displayed in a virtual scene. A user input for the first virtual object to interact with the interactive element in the virtual scene is received. Based on an interaction with the interactive element by the first virtual object, the display of the interactive element is controlled to change to a target form according to a target item of the first virtual object.
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公开(公告)号：US20240261967A1
公开(公告)日：2024-08-08
申请号：US18637606
申请日：2024-04-17
发明人： Jingfan ZHANG , Shuai WANG , Qinqin ZHOU , Jiali PENG , Zhaoxiang LI , Lingzhu XIANG , Yu ZHENG
IPC分类号： B25J9/16 , B25J17/00 , B62D57/032
CPC分类号： B25J9/1664 , B25J9/1633 , B25J17/00 , B62D57/032
摘要： A swing-up motion method of a robot includes: receiving a swing-up motion instruction; controlling, in response to the swing-up motion instruction, first leg parts of a robot to be in a suspended state, performing a leg retraction movement of the first leg parts, and at the end of the suspended state, placing first mechanical wheels on knee joints of the first leg parts on the ground; and controlling second leg parts of the robot to be suspended and keeping stable in a balanced state by using the first mechanical wheels as force-bearing balance points.
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