公开(公告)号：US11780085B2

公开(公告)日：2023-10-10

申请号：US17107966

申请日：2020-12-01

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Mingguo Zhao ,  Yuesong Wang ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/032 ,  B62D57/02

CPC classification number: B25J9/163 ,  B25J9/1607 ,  B25J9/1633 ,  B25J9/1638 ,  B25J13/088 ,  B62D57/02 ,  B62D57/032

Abstract: The present disclosure provides a robot posture control method as well as a robot and a computer readable storage medium using the same. The method includes: constructing a virtual model of the robot, wherein the virtual model comprises a momentum wheel inverted pendulum model of the robot and an angle between a sole surface of the robot and a horizontal plane; and performing a posture control based on outer-loop feedback control, inner loop compensation for the external disturbance rejection in position level, inner loop external disturbance rejection via null-space in velocity level, and inner loop external disturbance rejection in force/acceleration level on the robot. In this manner, a brand-new virtual model is provided, which can fully reflect the upper body posture, centroid, foot posture, and the like of the robot which are extremely critical elements for the balance and posture control of the robot.

公开(公告)号：US11472024B2

公开(公告)日：2022-10-18

申请号：US17133656

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/02

Abstract: The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.

公开(公告)号：US20220019196A1

公开(公告)日：2022-01-20

申请号：US17088596

申请日：2020-11-04

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YUESONG WANG ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

IPC: G05B19/4155 ,  G05B19/416 ,  B25J9/16

Abstract: A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints 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

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Xiaozhu Ju ,  Yuesong Wang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1607 ,  G05D2201/0217

Abstract: 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：US11579591B2

公开(公告)日：2023-02-14

申请号：US17088596

申请日：2020-11-04

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yuesong Wang ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

IPC: G05B19/4155 ,  B25J9/16 ,  G05B19/416

Abstract: A feedforward control method comprising steps of: acquiring kinematic parameters of each joint of a robot based on inverse kinematics according to a pre-planned robot motion trajectory, and setting a center of a body of the robot as a floating base; determining a six-dimensional acceleration of a center of mass of each joint of the robot in a base coordinate system using a forward kinematics algorithm, based on the kinematic parameters of each joint of the robot, and converting the six-dimensional acceleration of the center of mass of each joint of the robot in the base coordinate system to a six-dimensional acceleration in a world coordinate system; and calculating a torque required by a motor of each joint of the robot using an inverse dynamic algorithm, and controlling the motors of corresponding joints of the robot.

公开(公告)号：US20220193902A1

公开(公告)日：2022-06-23

申请号：US17485412

申请日：2021-09-25

Applicant: UBTECH ROBOTICS CORP LTD.

Inventor： Xiaozhu Ju ,  Yuesong Wang ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16

Abstract: 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：US20210197367A1

公开(公告)日：2021-07-01

申请号：US17133656

申请日：2020-12-24

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Xiaozhu Ju ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/02

Abstract: The present disclosure provides a humanoid robot and its control method and computer readable storage medium. The method includes: obtaining a current torque of a sole of the humanoid robot, an inclination angle of the sole, an inclination angle of a first joint of the humanoid robot, and an inclination angle of a second joint of the humanoid robot; calculating current feedforward angular velocities of motors of the first and second joints through the obtained information; calculating feedback angular velocities of the motors of the first and second joints; and obtaining inclination angles of the joints based on the feedforward angular velocities of the motors and the feedback angular velocities of the motors, and performing, through the motor of the second joint, a deviation control on the joints according to the inclination angles of the joints.