公开(公告)号：US20240083030A1

公开(公告)日：2024-03-14

申请号：US18264236

申请日：2021-12-14

Applicant: JINGDONG TECHNOLOGY INFORMATION TECHNOLOGY CO., LTD.

Inventor： Yongyu CHEN ,  Chao WANG ,  Xiujun YAO ,  Chenguang GUI ,  Lihua CUI

IPC: B25J9/16 ,  G05D1/02

CPC classification number: B25J9/1666 ,  G05D1/0221 ,  G05D2201/0217

Abstract: Disclosed are a method and an apparatus for path optimization, a robot and a storage medium. The method includes: acquiring an initial path of a robot, and iteratively optimizing the initial path until a preset iteration termination condition is met to obtain obstacle avoidance path of the robot: acquiring an iteration path corresponding to a current iteration process, determining a smoothness cost and a smoothness optimal gradient; determining a robot's footprint contour corresponding to the iteration path point, and searching for a first nearest obstacle distance; determining an obstacle cost corresponding to the iteration path and an obstacle optimal gradient corresponding to the iteration path point based on the first nearest obstacle distance; adjusting the iteration path point to acquire an iteration path corresponding to a next iteration process; inputting the smoothness cost and the obstacle cost to a preset objective function.

公开(公告)号：US20230418305A1

公开(公告)日：2023-12-28

申请号：US18338881

申请日：2023-06-21

Applicant: Boston Dynamics, Inc.

Inventor： Joel Chestnutt ,  Rick Shanor

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  G05D1/0212 ,  G05D2201/0217

Abstract: One disclosed method involves at least one application controlling navigation of a robot through an environment based at least in part on a topological map, the topological map including at least a first waypoint, a second waypoint, and a first edge representing a first path between the first waypoint and the second waypoint. The at least one application determines that the topological map includes at least one feature that identifies a first service that is configured to control the robot to perform at least one operation, and instructs the first service to perform the at least one operation as the robot travels along at least a portion of the first path.

公开(公告)号：US20230303193A1

公开(公告)日：2023-09-28

申请号：US18307467

申请日：2023-04-26

Applicant: Boston Dynamics, Inc.

Inventor： Kevin Blankespoor ,  Benjamin Stephens ,  Nicolas Hudson ,  Yeuhi Abe ,  Jennifer Barry

IPC: B62D57/032 ,  B25J9/16 ,  B62D57/02 ,  B62D57/024

CPC classification number: B62D57/032 ,  B25J9/162 ,  B25J9/1633 ,  B25J9/1694 ,  B62D57/02 ,  B62D57/024 ,  G05B2219/40298 ,  G05D2201/0217 ,  Y10S901/01

Abstract: A robot system includes: an upper body section including one or more end-effectors; a lower body section including one or more legs; and an intermediate body section coupling the upper and lower body sections. An upper body control system operates at least one of the end-effectors. The intermediate body section experiences a first intermediate body linear force and/or moment based on an end-effector force acting on the at least one end-effector. A lower body control system operates the one or more legs. The one or more legs experience respective surface reaction forces. The intermediate body section experiences a second intermediate body linear force and/or moment based on the surface reaction forces. The lower body control system operates the one or more legs so that the second intermediate body linear force balances the first intermediate linear force and the second intermediate body moment balances the first intermediate body moment.

公开(公告)号：US11760478B2

公开(公告)日：2023-09-19

申请号：US16978005

申请日：2019-03-05

Applicant: THK CO., LTD.

Inventor： Kaoru Hoshide

IPC: B60F5/02 ,  B64C37/00 ,  B64C39/02 ,  B25J9/16 ,  B25J19/00 ,  B64C25/00 ,  B64D1/22 ,  G05D1/02 ,  G05D1/10 ,  B64U10/13 ,  B64U50/34 ,  B64U101/60

CPC classification number: B64C39/024 ,  B25J9/1679 ,  B25J19/005 ,  B60F5/02 ,  B64C25/001 ,  B64C37/00 ,  B64D1/22 ,  G05D1/021 ,  G05D1/101 ,  B64U10/13 ,  B64U50/34 ,  B64U2101/60 ,  G05D2201/0217

Abstract: A flying robot comprising: a flying body unit; a propulsion portion comprising a plurality of propulsion units configured to cause propulsion to occur by driving rotor blades, the plurality of propulsion units being provided on the flying body unit; a working body unit; a manipulator unit configured to be capable of executing predetermined work and comprising one or more work manipulators provided on the working body unit; and connection units provided on the working body unit and the flying body unit so as to enable the flying body unit to be connected with and disconnected from the working body unit; wherein the flying robot executes the predetermined work by the work manipulators in a state in which the working body unit and the flying body unit are connected at the connection units. The flying robot is caused to execute a wide range of content of work as far as possible.

公开(公告)号：US11675360B2

公开(公告)日：2023-06-13

申请号：US16758597

申请日：2018-07-24

Applicant: SONY CORPORATION

Inventor： Tomoo Mizukami ,  Naoki Fujiwara ,  Takuma Morita

IPC: G06N3/008 ,  G05D1/02 ,  A63H11/00 ,  G05D1/00 ,  A63H3/36 ,  B25J11/00 ,  B25J13/00 ,  B25J19/02 ,  B25J9/16 ,  B25J9/00 ,  A63H3/28

CPC classification number: G05D1/0221 ,  A63H3/365 ,  A63H11/00 ,  B25J9/0003 ,  B25J9/163 ,  B25J11/001 ,  B25J13/003 ,  B25J19/023 ,  G05D1/0088 ,  G06N3/008 ,  A63H3/28 ,  A63H2200/00 ,  G05D2201/0217

Abstract: There is provided an information processing apparatus and an information processing method that can provide more useful information for an action plan of an autonomous mobile body, the information processing apparatus including an action recommendation unit configured to present a recommended action recommended to an autonomous mobile body, to the autonomous mobile body that performs an action plan based on situation estimation. The action recommendation unit determines the recommended action on the basis of an action history collected from a plurality of the autonomous mobile bodies, and on the basis of a situation summary received from a target autonomous mobile body that is a target of recommendation. The information processing method includes presenting, by a processor, a recommended action recommended to an autonomous mobile body, to the autonomous mobile body that performs an action plan based on situation estimation.

公开(公告)号：US11642786B2

公开(公告)日：2023-05-09

申请号：US17138948

申请日：2020-12-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Mingguo Zhao ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/02 ,  B62D57/032 ,  B25J19/00 ,  B25J9/00

CPC classification number: B25J9/1664 ,  B25J9/1651 ,  B25J9/1653 ,  B25J9/0006 ,  B25J9/1607 ,  B25J19/0008 ,  B62D57/02 ,  B62D57/032 ,  G05B2219/39063 ,  G05D2201/0217

Abstract: A humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.

公开(公告)号：US20190196477A1

公开(公告)日：2019-06-27

申请号：US16231512

申请日：2018-12-23

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Zheng Xie ,  Chunyu Chen ,  Yizhang Liu ,  Ligang Ge

IPC: G05D1/02

CPC classification number: G05D1/027 ,  G05D1/0272 ,  G05D2201/0217

Abstract: The present disclosure provides an equivalent trajectory generating method for a biped robot and a biped robot using the same. The method includes: obtaining a motion state of the biped robot by a position sensor; determining switching moments in an advancing direction of the biped robot, based on the motion state of the biped robot; finding the mass center position of the biped robot at each switching moment; connecting the mass center positions at the switching moments as an equivalent trajectory of the biped robot; and performing a closed loop control on the biped robot according to the equivalent trajectory. Through the method, the overall real-time position of the robot can be obtained according to the equivalent trajectory effectively, which is advantageous to perform a stable and reliable control to the biped robot according to the equivalent trajectory of the biped robot.

公开(公告)号：US20180207520A1

公开(公告)日：2018-07-26

申请号：US15745870

申请日：2016-05-23

Applicant: SONY CORPORATION

Inventor： SEIJI KADOTA

IPC: A63F9/24 ,  A63H29/22 ,  A63H3/36 ,  H02J50/12 ,  H02J50/80 ,  H02J50/40

CPC classification number: A63F9/24 ,  A63F2009/2482 ,  A63F2009/2492 ,  A63F2009/2494 ,  A63F2250/52 ,  A63H3/36 ,  A63H29/22 ,  B60L53/39 ,  B60M7/006 ,  G05D1/02 ,  G05D2201/0217 ,  H02J50/12 ,  H02J50/40 ,  H02J50/80 ,  H02J50/90 ,  Y02T10/7005

Abstract: A mobile object apparatus includes an electric power reception unit that receives electric power transmitted in a non-contact manner from, out of a plurality of power feed apparatuses that are allocated to a plurality of small areas within a predetermined area and are capable of transmitting electric power in a non-contact manner, the power feed apparatus allocated to the small area adjacent to the mobile object apparatus, a drive unit that executes a movement operation on the predetermined area, and an electric power storage unit that stores an electric power amount requisite for the movement operation to the small areas within a predetermined range from the adjacent small area.

公开(公告)号：US20180181140A1

公开(公告)日：2018-06-28

申请号：US15897565

申请日：2018-02-15

Applicant: Robert Bosch Start-Up Platform North America, LLC, Series 1

Inventor： Stephanie Lee ,  Douglas Dooley ,  Sarah Osentoski ,  Kaijen Hsiao

IPC: G05D1/02 ,  B25J11/00

CPC classification number: G05D1/0246 ,  B25J11/0015 ,  G05D1/024 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0214 ,  G05D2201/0217

Abstract: A robotic creature system includes an actuatable head defining eyes, an eyelid mechanism, a body, a drivetrain, and a set of sensors. A method for robotic creature operation includes: detecting an event associated with a technological imperfection and automatically performing a set of expressive actions associated with the event.

公开(公告)号：US20180069437A1

公开(公告)日：2018-03-08

申请号：US15806278

申请日：2017-11-07

Applicant: Nanjing AvatarMind Robot Technology Co., Ltd.

Inventor： Tingliang LI ,  Zhen LI

IPC: H02J50/15 ,  B25J19/00 ,  B60L11/18 ,  G05D1/02 ,  H02J7/02 ,  H02J50/90

CPC classification number: H02J50/15 ,  B25J19/005 ,  B60L15/20 ,  B60L53/36 ,  B60L53/66 ,  B60L58/12 ,  B60L2200/40 ,  G05D1/0225 ,  G05D1/0255 ,  G05D2201/0217 ,  H02J7/025 ,  H02J50/90

Abstract: In a method and system for automatically charging a robot based on ultrasonic wave according to the present disclosure, by configuring an ultrasonic transmitting module and a wireless communication module on a charging mount, and configuring two ultrasonic receiving modules and a wireless communication module on the robot, the robot calculates a distance and deflection of the robot relative to the charging mount according to signal strengths of received ultrasonic signals and a strength difference therebetween, and completes automatic tracing of the robot in combination with a motion control system and a posture adjustment strategy to automatically charge the robot. The method and system according to the present disclosure have a low cost, are suitable for a complicated application environment, and improve intelligence of the robots.