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公开(公告)号：US12070856B2
公开(公告)日：2024-08-27
申请号：US17557076
申请日：2021-12-21
发明人： Hongge Wang , Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Xingxing Ma , Jiangchen Zhou
IPC分类号： B25J9/16 , B62D57/02 , G05B19/41 , G05B19/4155
CPC分类号： B25J9/1605 , B25J9/1633 , B62D57/022 , G05B19/4155 , G05B2219/50391
摘要： 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.
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公开(公告)号：US11926052B2
公开(公告)日：2024-03-12
申请号：US17133575
申请日：2020-12-23
发明人： Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Youjun Xiong , Jianxin Pang
IPC分类号： B25J9/16 , B62D57/032 , G05D1/00
CPC分类号： B25J9/163 , B25J9/162 , B25J9/1664 , B62D57/032 , G05D1/02
摘要： A robot control method includes: acquiring distances between a center of mass (COM) of the biped robot and each of preset key points of feet of the biped robot, and acquiring an initial position of the COM of the biped robot; calculating a position offset of the COM based on the distances; adjusting the initial position of the COM based on the position offset of the COM to obtain a desired position of the COM of the biped robot; and determining desired walking parameters of the biped robot based on the desired position of the COM by using a preset inverse kinematics algorithm, wherein the desired walking parameters are configured to control the biped robot to walk.
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公开(公告)号：US20240001558A1
公开(公告)日：2024-01-04
申请号：US18369858
申请日：2023-09-19
发明人： SHUO ZHANG , Zheng Xie , Yizhang Liu , Zhihao Zhang , Yingfu Zeng , Youjun Xiong
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1697
摘要： A robot calibration method, a robot, and a computer-readable storage medium are provided. The method includes: obtaining operation space information of the execution end of the robot; obtaining operation space points after gridding an operation space of the robot by gridding the operation space based on the operation space information; obtaining calibration data by controlling the execution end to move to the operation space points meeting a preset requirement; and calibrating the hand and the image detection device of the robot based on the obtained calibration data. In this manner, the operation space points are determined by gridding the operation space based on the operation space information, and the execution end can be automatically controlled to move to the operation space points that meet the preset requirements so as to obtain the calibration data in an automatic and accurate manner, thereby simplifying the calibration process and improving the efficiency.
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公开(公告)号：US20230359207A1
公开(公告)日：2023-11-09
申请号：US18222448
申请日：2023-07-16
发明人： QIUYUE LUO , Ligang Ge , Yizhang Liu , Jie Bai , Youjun Xiong
CPC分类号： G05D1/0212 , B25J11/00 , B25J9/10
摘要： A trajectory planning method, a computer-readable storage medium, and a robot are provided. The method includes: constructing a phase variable of a trajectory planning of a robot, where the phase variable is a function of two position components of a torso of the robot on a horizontal plane; and performing, using the phase variable replacing a time variable, the trajectory planning on a swinging leg of the robot in each preset coordinate axis direction. In this manner, the robot can no longer continue to follow the established trajectory after being disturbed by the environment, but make state adjustments according to the disturbance received to offset the impact of the disturbance, thereby maintaining walking stability and avoiding the problem of early or late landing of the swinging leg.
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公开(公告)号：US20230191604A1
公开(公告)日：2023-06-22
申请号：US18071462
申请日：2022-11-29
发明人： Ligang Ge , Yizhang Liu , Chunyu Chen , Qiuyue Luo , Jiangchen Zhou , Meng Yan , Youjun Xiong
IPC分类号： B25J9/16 , G05B19/4155
CPC分类号： B25J9/1664 , B25J9/1605 , G05B19/4155 , G05B2219/50391
摘要： A robot stability control method includes: obtaining a desired zero moment point (ZMP) and a fed-back actual ZMP of a robot at a current moment; based on a ZMP tracking control model, the desired ZMP and the actual ZMP, calculating a desired value of a motion state of a center of mass of the robot at the current moment, wherein the desired value of the motion state of the center of mass comprises a correction amount of the position of the center of mass; based on a spring-mass-damping-acceleration model and the desired value of the motion state of the center of mass, calculating a lead control input amount for the correction amount of the position of the center of mass; and controlling motion of the robot according to the lead control input amount and a planned value of the position of the center of mass at the current moment.
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公开(公告)号：US20230130977A1
公开(公告)日：2023-04-27
申请号：US18089614
申请日：2022-12-28
发明人： Xianwen Zeng , Yizhang Liu , Meihui Zhang , Jinliang Chen , Youjun Xiong
摘要： A method for controlling a robot comprising an end effector includes: establishing at steady state between the end effector and a working surface through a preset impedance control mechanism, and adjusting a contact force between the end effector and the working surface according to a preset desired force; obtaining a contact torque generated by the contact force; controlling the end effector to rotate according to the contact torque until a pose of the end effector is consistent with a pose of the working surface; and controlling the end effector to move tangentially along the working surface.
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公开(公告)号：US20230101489A1
公开(公告)日：2023-03-30
申请号：US17553758
申请日：2021-12-16
发明人： Yizhang Liu , Youjun Xiong , Xuan Luo , Xianwen Zeng , Ligang Ge , Chunyu Chen
IPC分类号： B25J9/16
摘要： A joint acceleration planning method, a redundant robot using the same, and a computer readable storage medium are provided. The method includes: obtaining an optimization objective function, a joint acceleration inequation constraint function and a joint acceleration equation constraint function corresponding to the optimization target from a quadratic programming function library, where the optimization objective function is an objective function obtained based on the upper and lower limits of the optimization target and a Euclidean distance algorithm; and obtaining a joint acceleration planning result by performing a quadratic optimization solving on a joint acceleration of each of the target joints of the robot at time k according to the end Cartesian space speed at time k+1, the joint parameter set of the target joints of the robot at time k, the sampling period, the optimization objective function, the joint acceleration inequation constraint function, and the joint acceleration equation constraint function.
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公开(公告)号：US11599118B2
公开(公告)日：2023-03-07
申请号：US17137429
申请日：2020-12-30
发明人： Jie Bai , Ligang Ge , Yizhang Liu , Youjun Xiong , Jianxin Pang
IPC分类号： G05D1/02 , B62D57/032
摘要： A gait planning method includes: performing a gait planning in each center of mass (CoM) timing period of the robot based on a variable-height linear inverted pendulum model, which includes: acquiring a first step length and a second step length at a beginning of each CoM timing period; calculating a first height reduction amplitude and a first fluctuation amplitude of the CoM of the robot according to the first step length; calculating a second height reduction amplitude and a second fluctuation amplitude of the CoM of the robot according to the second step length; and performing a planning to the height of the CoM of the robot in the current CoM timing period, based on the first height reduction amplitude, the first fluctuation amplitude, the second height reduction amplitude, and the second fluctuation amplitude.
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公开(公告)号：US20220193899A1
公开(公告)日：2022-06-23
申请号：US17488341
申请日：2021-09-29
发明人： Hongge Wang , Chunyu Chen , Yizhang Liu , Ligang Ge , Jie Bai , Xingxing Ma , Jiangchen Zhou , Youjun Xiong
摘要： A pose control method for a robot includes: estimating a first set of joint angular velocities of all joints of the robot according to a balance control algorithm; estimating a second set of joint angular velocities of all joints of the robot according to a momentum planning algorithm; estimating a third set of joint angular velocities of all joints of the robot according to a pose return-to-zero algorithm; and performing pose control on the robot according to the first set of joint angular velocities, the second set of joint angular velocities, and the third set of joint angular velocities.
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公开(公告)号：US20210162595A1
公开(公告)日：2021-06-03
申请号：US16932872
申请日：2020-07-20
发明人： Jie Bai , Ligang Ge , Yizhang Liu , Hongge Wang , Jianxin Pang , Youjun Xiong
摘要： 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.
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