公开(公告)号：US20230373089A1

公开(公告)日：2023-11-23

申请号：US18230620

申请日：2023-08-05

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： JIAJUN WANG ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1661

Abstract: A method for controlling a robot includes: obtaining current motion state information of the robot and desired motion trajectory information corresponding to a target task; determining task execution coefficient matrices corresponding to the robot performing the target task according to the desired motion trajectory information and the motion state information; constructing matching dynamic constraints for task-driven parameters of the robot according to the desired motion trajectory information and the motion state information; constructing matching parameter distribution constraints for the task-driven parameters according to the motion state information and body action safety constraints corresponding to the target task; solving a pre-stored task execution loss function by using the task execution coefficient matrices to obtain the target-driven parameters satisfying the dynamic constraints and the parameter distribution constraints; and controlling operation state of each joint end effector of the robot according to the target-driven parameters.

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.