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1. 发明申请

US20230076589A1 CONTROLLING FOOT LANDING POINTS AND STEP ORDER OF LEGGED ROBOT BASED ON FOOT CONTACT FORCE 有权
公开(公告)号：US20230076589A1
公开(公告)日：2023-03-09
申请号：US17987355
申请日：2022-11-15
申请人： Tencent Technology (Shenzhen) Company Limited
发明人： Yu ZHENG , Xinyang JIANG , Wanchao CHI , Yonggen LING , Shenghao ZHANG , Zhengyou ZHANG
IPC分类号： G05D1/02 , B62D57/032
摘要： A method for controlling motion of a legged robot includes determining one or more candidate landing points for each foot of the robot. The method further includes determining a first correlation between a center of mass position change parameter, candidate landing points, and foot contact force. The method further includes determining, under a constraint condition set and based on the first correlation, a target center of mass position change parameter, a target step order, and a target landing point for each foot selected among the one or more candidate landing points for the respective foot, the constraint condition set constraining a step order. The method further includes controlling, according to the target center of mass position change parameter, the target step order, and the target landing point for each foot, motion of the legged robot in the preset period.

2. 发明申请

US20230055206A1 LEGGED ROBOT MOTION CONTROL METHOD, APPARATUS, AND DEVICE, AND MEDIUM 有权
公开(公告)号：US20230055206A1
公开(公告)日：2023-02-23
申请号：US17969999
申请日：2022-10-20
申请人： TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED
发明人： Yu ZHENG , Xinyang JIANG , Wanchao CHI , Zhengyou ZHANG
IPC分类号： B25J9/16 , B62D57/032
摘要： A legged robot motion control method includes: acquiring centroid state data of a spatial path start point and a spatial path end point of a motion path; determining a target landing point of afoot of the legged robot in the motion path based on the spatial path start point and the spatial path end point; determining a change relationship between a centroid position change coefficient and a foot contact force based on the centroid state data; selecting, under constraint of a constraint condition set, a target centroid position change coefficient that meets the change relationship; the constraint condition set including a spatial landing point constraint condition; determining a target motion control parameter according to the target centroid position change coefficient and the target landing point of the foot; and controlling, based on the target motion control parameter, the legged robot to perform motion according to the motion path.

3. 发明申请

US20230014536A1 ROBOT, HUMANOID ROBOT, AND ROBOT FALL CONTROL METHOD 有权
公开(公告)号：US20230014536A1
公开(公告)日：2023-01-19
申请号：US17784687
申请日：2020-11-18
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Masayuki KAMON , Junichi KARASUYAMA
IPC分类号： H02P3/22 , B25J13/08 , B25J17/00 , B25J19/00 , B25J9/12 , B25J9/16 , H02P5/46 , B62D57/032 , H02P5/68
摘要： A robot (100) includes a resistance circuit (60) configured or programmed to perform a control to reduce a braking force of a dynamic brake by changing a resistance value of a resistance component (63) with respect to a power supply path (61) when motors (30) are stopped at an abnormal stop.

4. 发明授权

US11550335B2 Biped robot and its moving method and apparatus 有权
公开(公告)号：US11550335B2
公开(公告)日：2023-01-10
申请号：US16753408
申请日：2018-11-28
申请人： UBTECH ROBOTICS CORP.
发明人： Youjun Xiong , Chunyu Chen , Yizhang Liu , Ligang Ge , Zheng Xie , Jianxin Pang
IPC分类号： B62D57/032 , G05D1/02
摘要： The present disclosure discloses a biped robot and its moving method and apparatus. The method includes: calculating a motion state of each servo of legs of a biped robot according to an actual trajectory of the biped robot, and controlling the servo to rotate to the corresponding motion state. The scheme enables the biped robot to achieve flexible controls to the biped robot according to the received real-time external feedbacks.

5. 发明申请

US20220388585A1 ROBOT DEVICE 有权
公开(公告)号：US20220388585A1
公开(公告)日：2022-12-08
申请号：US17769862
申请日：2020-07-21
申请人： SONY GROUP CORPORATION
发明人： YASUHISA KAMIKAWA , YASUNORI KAWANAMI , EISUKE OHSHIMA , TOSHIMITSU KAI
IPC分类号： B62D57/032 , B25J19/02 , B25J9/00
摘要： Provided is a robot device including a plurality of legs to perform a moving work. The robot device includes: a plurality of legs; and a body portion to which the legs are attached, the body portion having a bottom surface higher than a ground plane of the legs that are shortened to a maximum. The body portion includes a loading portion on which a load is placed in a space surrounded by the plurality of legs. Furthermore, an outer casing that covers the entire robot device including the plurality of legs is further provided. The outer casing includes an openable/closable lid or door on at least one of an upper surface, a front surface, a rear surface, a left side surface, or a right side surface.

6. 发明申请

US20220379480A1 BIPED ROBOT CONTROL METHOD AND BIPED ROBOT USING THE SAME AND COMPUTER READABLE STORAGE MEDIUM 有权
公开(公告)号：US20220379480A1
公开(公告)日：2022-12-01
申请号：US17678037
申请日：2022-02-23
申请人： UBTECH ROBOTICS CORP LTD
发明人： Chunyu Chen , Youjun Xiong , Yizhang Liu , Qiuyue Luo , Ligang Ge , Jie Bai , Jiangchen Zhou
IPC分类号： B25J9/16 , B62D57/032
摘要： A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.

7. 发明申请

US20220339983A1 WALKING VTOL DRONE AND RELATED SYSTEMS AND METHODS 有权
公开(公告)号：US20220339983A1
公开(公告)日：2022-10-27
申请号：US17728760
申请日：2022-04-25
申请人： Aigen, Inc.
发明人： Richard Wurden
IPC分类号： B60F5/02 , B62D57/032 , B64C25/66 , B64C29/00 , B64C39/02 , B64D9/00 , B60L8/00 , G05D1/10
摘要： Walking VTOL vehicles and related systems and methods are disclosed. A representative system can include one or more vertical thrust propulsion systems for providing vertical thrust for the vehicle, one or more horizontal thrust propulsion systems for providing horizontal thrust for the vehicle, and leg elements that are rotatable between a first configuration in which each leg element extends downwardly and a second configuration different from the first configuration. A representative method of operating a vehicle includes using vertical thrust to raise the vehicle upward, rotating a leg element forward, lowering the vehicle, and then rotating the leg element rearward to propel the vehicle forward.

8. 发明授权

US11465281B2 Dynamic planning controller 有权
公开(公告)号：US11465281B2
公开(公告)日：2022-10-11
申请号：US16601035
申请日：2019-10-14
申请人： Boston Dynamics, Inc.
发明人： Eric Whitman , Alex Khripin
IPC分类号： B62D57/032 , B25J9/16 , G05B13/04 , G06N5/00
摘要： A dynamic planning controller receives a maneuver for a robot and a current state of the robot and transforms the maneuver and the current state of the robot into a nonlinear optimization problem. The nonlinear optimization problem is configured to optimize an unknown force and an unknown position vector. At a first time instance, the controller linearizes the nonlinear optimization problem into a first linear optimization problem and determines a first solution to the first linear optimization problem using quadratic programming. At a second time instance, the controller linearizes the nonlinear optimization problem into a second linear optimization problem based on the first solution at the first time instance and determines a second solution to the second linear optimization problem based on the first solution using the quadratic programming. The controller also generates a joint command to control motion of the robot during the maneuver based on the second solution.

9. 发明授权

US11426875B2 Natural pitch and roll 有权
公开(公告)号：US11426875B2
公开(公告)日：2022-08-30
申请号：US16858795
申请日：2020-04-27
申请人： Boston Dynamics, Inc.
发明人： Alex Khripin , Alfred Anthony Rizzi
IPC分类号： B25J9/16 , B62D57/032
摘要： A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

10. 发明授权

US11426322B2 Method for moving an exoskeleton 有权
公开(公告)号：US11426322B2
公开(公告)日：2022-08-30
申请号：US16476813
申请日：2018-01-10
申请人： WANDERCRAFT
发明人： Matthieu Masselin , Kien Cuong Nguyen
IPC分类号： G05B19/04 , A61H3/00 , B25J9/00 , B62D57/032 , B25J9/16
摘要： The present invention relates to a method for moving an exoskeleton (1) receiving a human operator, said exoskeleton (1) having a plurality of degrees of freedom including at least one degree of freedom actuated and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation of steps of: (a) when a start request is received, generating and emitting a command to at least one of said actuators so as to put the exoskeleton (1) in a tipping state; (b) in a database stored in data storage means (12) of triplets of: a set of virtual requirements on said actuated degrees of freedom, a controller for said exoskeleton (1) capable of generating commands of said actuators so as to fulfil said virtual requirements by implementing at least one attracting stable trajectory, a stability pool formed by all the points from which the execution of said controller allows a convergence to said attracting stable trajectory; identifying a set of virtual requirements such that said tipping state is included in said stability pool associated with this set of virtual requirements; (c) executing the controller associated with the set of virtual requirements identified such that the exoskeleton (1) walks.

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