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1.发明授权公开(公告)号：US12122468B2
公开(公告)日：2024-10-22
申请号：US17562985
申请日：2021-12-27
发明人： Hongge Wang , Ligang Ge , Yizhang Liu , Jie Bai , Chunyu Chen , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
IPC分类号： B62D57/032 , B25J9/16
CPC分类号： B62D57/032 , B25J9/1664
摘要： 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.
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公开(公告)号：US20240198532A1
公开(公告)日：2024-06-20
申请号：US18518960
申请日：2023-11-25
发明人： MENG YAN , Chunyu Chen , Jiangchen Zhou , Lihua Lu
IPC分类号： B25J9/16
CPC分类号： B25J9/1689
摘要： A method for robot telcoperation control is provided. The method includes acquiring target action data and displacement data of a target object, wherein the target action data includes head action data and arm action data; controlling a target robot to act according to the target action data to enable the target robot to complete an action corresponding to the target action data; and performing centroid trajectory planning on the target robot based on a model predictive control (MPC) algorithm according to the displacement data to obtain a target centroid trajectory, and establishing a spring-damping system to track the target centroid trajectory so as to enable the target robot to move to a position corresponding to the displacement data.
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3.发明公开公开(公告)号：US20240017404A1
公开(公告)日：2024-01-18
申请号：US18371472
申请日：2023-09-22
发明人： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Youjun Xiong
IPC分类号： B25J9/16
CPC分类号： B25J9/1628
摘要： 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.
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4.发明公开公开(公告)号：US20230234655A1
公开(公告)日：2023-07-27
申请号：US18091327
申请日：2022-12-29
发明人： Ligang Ge , Yizhang Liu , Qiuyue Luo , Chunyu Chen , Xuan Luo , Jiangchen Zhou
IPC分类号： B62D57/032 , G05D1/02 , B25J17/00
CPC分类号： B62D57/032 , G05D1/0212 , B25J17/00 , G05D2201/0217
摘要： A robot step control method, a robot control apparatus, and a storage medium are provided. The method includes: determining an expected support force of two legs of a biped robot according to zero-moment point planning data and actual position data of the two legs at a current moment, and determining a current desired joint posture angle of ankle joints of the two legs and a desired joint position matching an actual leg support state using a compliance control algorithm based on an expected support force of the two legs, and centroid movement planning data, centroid actual movement data, step planning data and actual force data of the two legs at the current moment. In such manner, all-direction compliant controls can be performed on a desired leg pose condition according to the actual motion status of the biped robot, thereby improving the walking stability and terrain adaptability of the biped robot.
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公开(公告)号：US11602848B2
公开(公告)日：2023-03-14
申请号：US17120229
申请日：2020-12-13
发明人： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Jianxin Pang , Youjun Xiong
摘要： A robot control method includes: obtaining force information associated with feet of the robot; calculating a zero moment point of a COM of a body of the robot based on the force information; updating a position 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; obtaining posture information of the robot; updating a posture trajectory of the robot according to the posture information to obtain an updated pose angle; performing inverse kinematics analysis on the updated position of the COM of the body and the updated pose angle to obtain joint angles of legs of the robot; and controlling the robot to move according to the joint angles.
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6.发明申请公开(公告)号：US20220379480A1
公开(公告)日：2022-12-01
申请号：US17678037
申请日：2022-02-23
发明人： Chunyu Chen , Youjun Xiong , Yizhang Liu , Qiuyue Luo , Ligang Ge , Jie Bai , Jiangchen Zhou
IPC分类号： B25J9/16 , B62D57/032
摘要： A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.
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公开(公告)号：US20220206501A1
公开(公告)日：2022-06-30
申请号：US17462019
申请日：2021-08-31
发明人： Xingxing Ma , Chunyu Chen , Yizhang Liu , Ligang Ge , Hongge Wang , Jie Bai , Jiangchen Zhou , Zheng Xie
摘要： 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.
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公开(公告)号：US20220184807A1
公开(公告)日：2022-06-16
申请号：US17137431
申请日：2020-12-30
发明人： Jie Bai , Chunyu Chen , Ligang Ge , Yizhang Liu , Youjun Xiong
IPC分类号： B25J9/16
摘要： The present disclosure provides a humanoid gait control method, device, apparatus and storage medium of humanoid robots. The method includes: obtaining a first vector from a virtual centroid to an ankle joint of a left leg of the humanoid robot at a current moment and a second vector from the virtual centroid to an ankle joint of a right leg at the current moment, and obtaining an original planning value of the virtual centroid of the current moment of the humanoid robot; determining a height of the target virtual centroid of the humanoid robot after the virtual centroid is reduced at the current moment according to the first vector, the second vector, the original planning value of the virtual centroid and a preset virtual centroid height reduction algorithm; and controlling the humanoid robot to walk on straight knees according to the height of the target virtual centroid.
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公开(公告)号：US20210181748A1
公开(公告)日：2021-06-17
申请号：US17120232
申请日：2020-12-13
发明人： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Youjun Xiong , Jianxin Pang
IPC分类号： G05D1/02 , G01L5/16 , B62D57/02 , G05B19/4155
摘要： 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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公开(公告)号：US20210107577A1
公开(公告)日：2021-04-15
申请号：US16724413
申请日：2019-12-23
发明人： Chunyu Chen , Yizhang Liu , Ligang Ge , Xianwei Su , Zheng Xie , Youjun Xiong , Jianxin Pang
摘要： The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.
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