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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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2.发明申请公开(公告)号：US20210146538A1
公开(公告)日：2021-05-20
申请号：US16734393
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zecai Lin , Zhaohui An , Zheng Xie , Yizhang Liu , Youjun Xiong , Jianxin Pang
Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.
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公开(公告)号：US11125276B2
公开(公告)日：2021-09-21
申请号：US16234631
申请日：2018-12-28
Applicant: UBTECH Robotics Corp
Inventor： Youjun Xiong , Kunlei Zhao , Wenhua Yu , Zheng Xie , Zhaohui An
Abstract: The present disclosure provides an output shaft component and a power output mechanism. The output shaft component includes a housing connected to the driven member, an adapter shaft connected to an output shaft of the power output mechanism, and an elastic body mounted in the housing. The adapter shaft is rotatably mounted in the housing. The elastic body includes an inner ring, an outer ring located outside the inner ring, and an elastic portion connected between the inner ring and the outer ring. The adapter shaft is sheathed in the inner ring, the inner ring is synchronously rotatably connected to the adapter shaft, and the outer ring is fixed on the housing.
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公开(公告)号：US20210187731A1
公开(公告)日：2021-06-24
申请号：US16817576
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： ZECAI LIN , Zhaohui An , Yizhang Liu , Mekhui Zhang , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.
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公开(公告)号：US11639005B2
公开(公告)日：2023-05-02
申请号：US17326259
申请日：2021-05-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Weizhi Shi , Minghua Chen , Zhaohui An , Youjun Xiong
Abstract: A robotic finger structure includes a proximal phalanx; a middle phalanx rotatably connected to one end of the proximal phalanx; a distal phalanx rotatably connected to one end of the middle phalanx and defining a distal phalanx opening in a front side thereof and at one end adjacent to the middle phalanx; a connecting rod having opposite ends that are rotatably connected to the proximal phalanx and the distal phalanx, and an actuating assembly to drive the middle phalanx to rotate with respect to the proximal phalanx. The connecting rod includes a first angled segment having a first recess facing a back side of the middle phalanx. When the distal phalanx is flush with the middle phalanx, the first angled segment passes through the distal phalanx opening, and a first end of the distal phalanx opening extends into the first recess.
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Patent Agency Ranking
6.发明授权公开(公告)号：US11331802B2
公开(公告)日：2022-05-17
申请号：US16734393
申请日：2020-01-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zecai Lin , Zhaohui An , Zheng Xie , Yizhang Liu , Youjun Xiong , Jianxin Pang
Abstract: A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.
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公开(公告)号：US11325247B2
公开(公告)日：2022-05-10
申请号：US16817576
申请日：2020-03-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Zecai Lin , Zhaohui An , Yizhang Liu , Meihui Zhang , Youjun Xiong , Jianxin Pang
Abstract: The present disclosure provides a robotic arm control method as well as an apparatus and a terminal device using the same. The method includes: obtaining a current joint angle of each of M joints of the robotic arm; obtaining a reference included angle based on the current joint angle of each of the M joints of the robotic arm; determining an expected included angle corresponding to the robotic arm within a target angle range based on the reference included angle and the preset included angle related evaluation function; and controlling the robotic arm based on the target joint angles of the M joints.
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公开(公告)号：US11602858B2
公开(公告)日：2023-03-14
申请号：US17216716
申请日：2021-03-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Zhaohui An , Weizhi Shi , Youjun Xiong
Abstract: A thumb structure includes a proximal phalanx, a distal phalanx rotatably connected to one end of the proximal phalanx, a fixing member connected to the proximal phalanx through a first ball joint, a linking member having opposite ends that are connected to the distal phalanx and the fixing member through a second ball joint and a third ball joint, a first actuating assembly to drive the proximal phalanx to swing in a direction of a first degree of freedom, and a second actuating assembly to drive the proximal phalanx to swing in a direction of a second degree of freedom.
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公开(公告)号：US20210370523A1
公开(公告)日：2021-12-02
申请号：US17326259
申请日：2021-05-20
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Weizhi Shi , Minghua Chen , Zhaohui An , Youjun Xiong
Abstract: A robotic finger structure includes a proximal phalanx; a middle phalanx rotatably connected to one end of the proximal phalanx; a distal phalanx rotatably connected to one end of the middle phalanx and defining a distal phalanx opening in a front side thereof and at one end adjacent to the middle phalanx; a connecting rod having opposite ends that are rotatably connected to the proximal phalanx and the distal phalanx, and an actuating assembly to drive the middle phalanx to rotate with respect to the proximal phalanx. The connecting rod includes a first angled segment having a first recess facing a back side of the middle phalanx. When the distal phalanx is flush with the middle phalanx, the first angled segment passes through the distal phalanx opening, and a first end of the distal phalanx opening extends into the first recess.
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公开(公告)号：US20210370522A1
公开(公告)日：2021-12-02
申请号：US17216716
申请日：2021-03-30
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Kunlei Zhao , Zheng Xie , Zhaohui An , Weizhi Shi , Youjun Xiong
Abstract: A thumb structure includes a proximal phalanx, a distal phalanx rotatably connected to one end of the proximal phalanx, a fixing member connected to the proximal phalanx through a first ball joint, a linking member having opposite ends that are connected to the distal phalanx and the fixing member through a second ball joint and a third ball joint, a first actuating assembly to drive the proximal phalanx to swing in a direction of a first degree of freedom, and a second actuating assembly to drive the proximal phalanx to swing in a direction of a second degree of freedom.
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