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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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3.发明授权公开(公告)号：US11602844B2
公开(公告)日：2023-03-14
申请号：US17192906
申请日：2021-03-05
发明人： Xiaoyu Ren , Liqun Huang , Mingguo Zhao , Youjun Xiong
摘要： A task hierarchical control method as well as a robot and a storage medium using the same are provided. The method includes: obtaining a task instruction for a robot, where the task instruction is for determining a target task card including an amount of selection matrices for dividing a target task into the amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks; obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix; generating control finks of the amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix; calculating a control torque of each of the control links and obtaining a hierarchical control output quantity by adding ail the control torques; and controlling the robot to perform the target task using the hierarchical control output quantity.
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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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5.发明授权公开(公告)号：US11579591B2
公开(公告)日：2023-02-14
申请号：US17088596
申请日：2020-11-04
发明人： Yuesong Wang , Xiaozhu Ju , Mingguo Zhao , Youjun Xiong
IPC分类号： G05B19/4155 , B25J9/16 , G05B19/416
摘要： 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.
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6.发明申请公开(公告)号：US20220392103A1
公开(公告)日：2022-12-08
申请号：US17488343
申请日：2021-09-29
发明人： Rui Guo , Zhanjia Bi , Youjun Xiong
摘要： A visual positioning method and a mobile machine using the same are provided. The method includes: extracting a plurality of corner feature points corresponding to a current image; determining whether a distance between each pair of the plurality of corner feature points is less than a first preset threshold; if yes, determining whether a grayscale value of each of the plurality of corner feature points with the distance less than the first preset threshold is within a second preset threshold range; if yes, obtaining cluster set(s) of the corner feature points; screening a plurality of valid feature points from the cluster set(s); determining a positioning reliability based on a ratio of amount of the valid feature points to an amount of the plurality of corner feature points; and if the positioning reliability is within a preset range, performing a visual positioning based on the positioning reliability.
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公开(公告)号：US11518042B2
公开(公告)日：2022-12-06
申请号：US16870903
申请日：2020-05-09
发明人： Chengkun Zhang , Marten Byl , Muhammed Rasid Pac , Raymond Ma , Luis Alfredo Mateos Guzman , Won Suk You , Huan Tan , Youjun Xiong
IPC分类号： B25J9/00 , B25J11/00 , B25J5/00 , B65G1/02 , B65G61/00 , B25J9/16 , B25J9/10 , B25J9/12 , B25J19/00 , B25J19/02 , G05D1/02
摘要： A robotic assistant includes a wheeled base, a storage unit including drawers, a foldable arm connected to a top of the storage unit and including an end of arm tooling (EOAT) connected to a distal end of the foldable arm, an elevation mechanism positioned on the wheeled base and used to move the storage unit up and down, and a control system that receives command instructions. In response to the command instructions, the control system is configured to move the wheeled base, open or close the one or more drawers, actuate movement of the foldable arm and the EOAT to pick up and place external objects from/to a determined location, and control the storage unit to move up/down.
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公开(公告)号：US11474204B2
公开(公告)日：2022-10-18
申请号：US16699765
申请日：2019-12-02
发明人： Zhichao Liu , Jian Zhang , Youjun Xiong , Jianxin Pang
IPC分类号： G01S7/48 , G01S17/931 , G06K9/62
摘要： The present disclosure provides a localization method as well as a robot using the same. The method includes: obtaining laser scan points and particles; mapping each of the laser scan points to a global coordinate system based on each of the particles to obtain global boundary points of each of the particles; finding a matching boundary point in the global boundary points by comparing the global boundary points of the particle with points corresponding to static objects in a known map; calculating a distance between the matching boundary point of the particle and the points corresponding to the static objects, and increasing a weight of the matching boundary point if the distance is less than a preset threshold; calculating a weight of the particle by matching the global boundary points of the particle with the known map; and estimating a localization result.
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公开(公告)号：US11461958B2
公开(公告)日：2022-10-04
申请号：US17216719
申请日：2021-03-30
发明人： Xi Luo , Mingguo Zhao , Youjun Xiong
摘要： A scene data obtaining method as well as a model training method and a computer readable storage medium using the same are provided. The method includes: building a virtual simulation scene corresponding to an actual scene, where the virtual simulation scene is three-dimensional; determining a view frustum corresponding to preset view angles in the virtual simulation scene; collecting one or more two-dimensional images in the virtual simulation scene and ground truth object data associated with the one or more two-dimensional images using the view frustum corresponding to the preset view angles; and using all the two-dimensional images and the ground truth object data associated with the one or more two-dimensional images as scene data corresponding to the actual scene. In this manner, the data collection does not require manual annotation, and the obtained data can be used for training deep learning-based perceptual models.
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公开(公告)号：US11418023B2
公开(公告)日：2022-08-16
申请号：US16535112
申请日：2019-08-08
发明人： Youjun Xiong , Sheng Zhou , Malin Wang , Wenhua Fan , Jianxin Pang
摘要： A current protection circuit for a high voltage system includes: a power supply module to supply power to a load through a high voltage bus and a low voltage bus; a detection module connected to the high voltage bus and used to detect a value of current flowing through the high voltage bus; a signal processing module electrically connected to the detection module and used to amplify the current flowing through the high voltage bus; and a control module electrically connected to the signal processing module, the power supply module, and the load, and used to disconnect the load from the power supply module or perform current limiting for the load when the value of the amplified current exceeds a preset threshold.
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