-
公开(公告)号：US12094084B2
公开(公告)日：2024-09-17
申请号：US17388043
申请日：2021-07-29
发明人： Bin Sun , Mingguo Zhao , Youjun Xiong
CPC分类号： G06T5/20 , G06F7/24 , G06T5/50 , G06T2207/20021 , G06T2207/20221
摘要： Image processing methods are provided. One of the method includes: obtaining a to-be-processed multi-channel feature maps; obtaining multi-channel first output feature maps and multi-channel second output feature maps by processing the multi-channel feature maps through a parallel pointwise convolution and non-pointwise operation, where the non-pointwise convolution is for descripting a spatial feature of each channel and an information exchange between the feature maps; and fusing the multi-channel first output feature maps and the multi-channel second output feature maps to obtain a multi-channel third output feature map.
-
公开(公告)号：US11945528B2
公开(公告)日：2024-04-02
申请号：US17134147
申请日：2020-12-24
发明人： Liang Huang , Hongyu Ding , Youjun Xiong
IPC分类号： B25J9/02 , B62D57/032
CPC分类号： B62D57/032
摘要： A hip joint mechanism includes: a hip joint frame; an upper leg movably connected to the hip joint frame; a hip actuator configured to drive the hip joint frame to rotate; two upper leg actuators mounted on the hip joint frame; two transmission mechanisms configured to transmit motion from the two upper leg actuators to the upper leg, wherein each of the upper leg actuators comprises a casing connected to the hip joint frame, and an output shaft connected to one corresponding transmission mechanism, each of the two transmission mechanisms comprises an output end; and three connecting mechanisms, wherein the output ends and the hip joint frame are movably connected to the upper leg through the three connecting mechanisms, the three connecting mechanisms are arranged at three vertices of a triangle.
-
公开(公告)号：US20240085913A1
公开(公告)日：2024-03-14
申请号：US18517006
申请日：2023-11-22
发明人： Simin Zhang , Youjun Xiong
CPC分类号： G05D1/0212 , G01C21/3841 , G05D1/0011
摘要： A robot autonomous operation method, a robot, and a computer-readable storage medium are provided. The method includes: moving the robot, under a control of a user, along a guide path in an operation scene; generating a map including the guide path by positioning and mapping during the robot being moved along the guide path in the operation scene; generating a plurality of operation points on the guide path in the map; generating an operation path, wherein the operation path passes through all of the unpassed operation points and has a shortest total distance; and moving the robot, according to the operation path, to each of the unpassed operation points so as to perform an operation. In this manner, it controls the robot to explore the guide path in the operation scene by manual guiding, which can improve the exploration efficiency and reduce the risk of exploring unknown operation scenes.
-
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.
-
5.发明公开公开(公告)号：US20240025038A1
公开(公告)日：2024-01-25
申请号：US18373991
申请日：2023-09-28
发明人： Yisen HU , Hao Dong , Hongyu Ding , Youjun Xiong
IPC分类号： B25J9/16 , B25J9/10 , B62D57/032
CPC分类号： B25J9/163 , B25J9/1664 , B25J9/106 , B25J9/161 , B25J9/1607 , B62D57/032
摘要： A robot control method, a legged robot using the same, and a computer-readable storage medium are provided. The method includes: obtaining a motion parameter of a driving mechanism of a target part of the robot; and obtaining an end pose of the target part by processing the motion parameter of the driving mechanism according to a preset forward kinematics solving model, where the forward kinematics solving model is a neural network model trained by a preset training sample set constructed according to a preset inverse kinematics function relationship. In this manner, a complex forward kinematics solving process can be transformed into a relatively simple inverse kinematics solving process and neural network model processing process, which reduces the computational complexity, shortens the computational time, thereby meeting the demand for real-time control of the robot.
-
公开(公告)号：US11872701B2
公开(公告)日：2024-01-16
申请号：US17485412
申请日：2021-09-25
发明人： Xiaozhu Ju , Yuesong Wang , Mingguo Zhao , Youjun Xiong
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1607 , G05D2201/0217
摘要： A total centroid state estimation method as well as a humanoid robot and a computer readable storage medium using the same are provided. The method includes: obtaining a motion state of each real joint of the humanoid robot and a motion state of its floating base, where the floating base is equivalent to a plurality of sequent-connected virtual joints; calculating a joint position, a centroid position, and a rotation matrix of each link in the world coordinate system in sequence using the chain rule of homogeneous multiplication according to the position of the joint corresponding to the link to solve a Jacobian matrix of the centroid of the link; solving a total centroid Jacobian matrix based on the Jacobian matrix of the centroid of each link and the total mass; and calculating the total centroid velocity based on the total centroid Jacobian matrix and other parameters.
-
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.
-
公开(公告)号：US20230373089A1
公开(公告)日：2023-11-23
申请号：US18230620
申请日：2023-08-05
发明人： JIAJUN WANG , Mingguo Zhao , Youjun Xiong
IPC分类号： B25J9/16
CPC分类号： B25J9/1661
摘要： 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：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.
-
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.
-
-
-
-
-
-
-
-
-
搜索结果
287 条记录 (耗时 0.019 秒)
