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公开(公告)号：US20190202056A1
公开(公告)日：2019-07-04
申请号：US16026032
申请日：2018-07-02
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jinghua Tang
IPC: B25J9/16
Abstract: The present disclosure provides a robot motion path planning method, apparatus, and terminal device. The method includes planning a planned path for a robot in a current scene using an open motion planning library (OMPL) database, setting a shortest ideal path as an initial ideal path, calculating a new path between the planned path and the initial ideal path using a dichotomy method, determining whether the new path meets an obstacle avoidance requirement and a structural constraint of the robot in the current scene, making the new path as the new planned path if yes, otherwise determining the new path as a new ideal path, optimizing the planned path using the dichotomy method iteratively until an error between the planned path and the ideal path is within a preset range, and determining the planned path as a motion path of the robot, thereby improving the motion efficiency.
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公开(公告)号：US11022983B2
公开(公告)日：2021-06-01
申请号：US16172838
申请日：2018-10-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Ligang Ge , Chunyu Chen , Yizhang Liu , Zheng Xie , Zhaohui An , Jinghua Tang
Abstract: The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning an initial position of an ankle joint of the biped robot and a rotation angle of a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.
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公开(公告)号：US20190204848A1
公开(公告)日：2019-07-04
申请号：US16172838
申请日：2018-10-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Ligang Ge , Chunyu Chen , Yizhang Liu , Zheng Xie , Zhaohui An , Jinghua Tang
CPC classification number: G05D1/0268 , B25J9/106 , B25J9/1615 , B25J13/08 , B25J17/00 , B62D57/032 , G05D1/0891 , G05D2201/0217
Abstract: The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning art initial position of an ankle joint of the biped robot and a rotation angle a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle, of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.
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公开(公告)号：US10821605B2
公开(公告)日：2020-11-03
申请号：US16026032
申请日：2018-07-02
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Jinghua Tang
IPC: B25J9/16
Abstract: The present disclosure provides a robot motion path planning method, apparatus, and terminal device. The method includes planning a planned path for a robot in a current scene using an open motion planning library (OMPL) database, setting a shortest ideal path as an initial ideal path, calculating a new path between the planned path and the initial ideal path using a dichotomy method, determining whether the new path meets an obstacle avoidance requirement and a structural constraint of the robot in the current scene, making the new path as the new planned path if yes, otherwise determining the new path as a new ideal path, optimizing the planned path using the dichotomy method iteratively until an error between the planned path and the ideal path is within a preset range, and determining the planned path as a motion path of the robot, thereby improving the motion efficiency.
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