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公开(公告)号：US20240012420A1
公开(公告)日：2024-01-11
申请号：US18251863
申请日：2021-07-02
Inventor： Zhengtao HOU
IPC: G05D1/02
CPC classification number: G05D1/0214 , G05D1/0246 , G05D2201/0217
Abstract: A method and apparatus for detecting an unknown obstacle, and a medium and an electronic device. During a moving process of a autonomous mobile robot, if an obstacle of an unknown type is detected within a distance from which detection cannot be performed, the autonomous mobile robot moves away from the obstacle to be within an effective detection distance, and then navigation is performed by means of an effective detection result.
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公开(公告)号：US20240004400A1
公开(公告)日：2024-01-04
申请号：US18211531
申请日：2023-09-08
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yulong Gu , Simin Zhang , Yun Zhao
IPC: G05D1/02
CPC classification number: G05D1/0274 , G05D1/0248 , G05D1/0272 , G05D2201/0217
Abstract: A storage medium, a robot, and a method for generating navigation map are provided. By disposing a first lidar and a second lidar located higher than the first lidar, it constructs a first map corresponding to the first lidar based on first laser data collected by the first lidar, and calculate second positioning data corresponding to the second lidar during constructing the first map, constructs a second map corresponding to the second lidar based on the second positioning data and second laser data collected by the second lidar, and obtains a navigation map corresponding to the robot by fusing the first map with the second map, such that the fused map includes not only positioning information provided by the first map, but also obstacle information provided by the first map and the second map.
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公开(公告)号：US11833680B2
公开(公告)日：2023-12-05
申请号：US17358628
申请日：2021-06-25
Applicant: Boston Dynamics, Inc.
Inventor： Robin Deits , Scott Kuindersma , Matthew P. Kelly , Twan Koolen , Yeuhi Abe , Benjamin Stephens
CPC classification number: B25J9/1602 , B25J13/08 , B62D57/02 , G05D1/0212 , G05D1/0246 , G05D2201/0217
Abstract: Systems and methods for determining movement of a robot about an environment are provided. A computing system of the robot (i) receives information including a navigation target for the robot and a kinematic state of the robot; (ii) determines, based on the information and a trajectory target for the robot, a retargeted trajectory for the robot; (iii) determines, based on the retargeted trajectory, a centroidal trajectory for the robot and a kinematic trajectory for the robot consistent with the centroidal trajectory; and (iv) determines, based on the centroidal trajectory and the kinematic trajectory, a set of vectors having a vector for each of one or more joints of the robot.
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公开(公告)号：US11774247B2
公开(公告)日：2023-10-03
申请号：US17649620
申请日：2022-02-01
Applicant: Boston Dynamics, Inc.
Inventor： Gina Christine Fay , Alfred Rizzi
CPC classification number: G01C21/20 , G05D1/0088 , G05D1/0214 , G05D2201/0217
Abstract: A method for generating intermediate waypoints for a navigation system of a robot includes receiving a navigation route. The navigation route includes a series of high-level waypoints that begin at a starting location and end at a destination location and is based on high-level navigation data. The high-level navigation data is representative of locations of static obstacles in an area the robot is to navigate. The method also includes receiving image data of an environment about the robot from an image sensor and generating at least one intermediate waypoint based on the image data. The method also includes adding the at least one intermediate waypoint to the series of high-level waypoints of the navigation route and navigating the robot from the starting location along the series of high-level waypoints and the at least one intermediate waypoint toward the destination location.
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公开(公告)号：US20230168693A1
公开(公告)日：2023-06-01
申请号：US17966027
申请日：2022-10-14
Inventor： Shuai WANG , Jingfan ZHANG , Jie LAI , Dongsheng ZHANG , Ke CHEN , Yu ZHENG , Zhengyou ZHANG
CPC classification number: G05D1/0891 , B25J5/007 , B25J9/1633 , B25J9/1653 , B25J13/085 , B25J19/0008 , G05D2201/0217
Abstract: This application relates to the field of robot control, and provides a motion state control method and apparatus, a device, and a readable storage medium. The method includes the following steps: Step 301: Acquire basic data and motion state data, the basic data being used for representing a structural feature of a wheeled robot, and the motion state data being used for representing a motion feature of the wheeled robot. Step 302: Determine a state matrix of the wheeled robot based on the basic data and the motion state data, the state matrix being related to an interference parameter of the wheeled robot, the interference parameter corresponding to a balance error of the wheeled robot. Step 303: Determine, based on the state matrix, a torque for controlling the wheeled robot. Step 304: Control, by using the torque, the wheeled robot to be in a standstill state.
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Patent Agency Ranking
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：US20180217609A1
公开(公告)日：2018-08-02
申请号：US15889137
申请日：2018-02-05
Inventor： Stephanie Lee , Douglas Dooley , Sarah Osentoski , Kaijen Hsiao
CPC classification number: G05D1/0246 , B25J11/001 , 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.
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公开(公告)号：US09995589B2
公开(公告)日：2018-06-12
申请号：US15398965
申请日：2017-01-05
Applicant: HONDA MOTOR CO., LTD.
Inventor： Taizo Yoshikawa
CPC classification number: G01C21/3446 , G01C21/206 , G01C21/3415 , G01S19/13 , G01S19/14 , G05D1/0217 , G05D2201/0217
Abstract: A path plan generating apparatus 10 corrects an RRT path plan that an RRT path plan generating section 22 has generated by processing based on the RRT algorithm, by a path plan correcting section 23 by processing based on the potential method. If the corrected path plan becomes a path plan with which interference between the mobile body 1 and an obstacle A is unavoidable, the apparatus 10 causes the RRT path plan generating section 22 to generate a new RRT path plan.
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公开(公告)号：US09964956B2
公开(公告)日：2018-05-08
申请号：US15196627
申请日：2016-06-29
Applicant: HONDA MOTOR CO., LTD.
Inventor： Tomoki Watabe , Hiroyuki Kaneko , Minami Asatani
CPC classification number: G05D1/0248 , B25J19/022 , B25J19/023 , G05D2201/0217 , Y10S901/01
Abstract: An operating environment information generating device is provided which estimates, upon contact of a mobile robot (1) with a surface portion of an external object, a position and posture of the contact surface on the basis of a posture state of the robot (1), and, in the case where the degree of difference between the estimates and a position and posture of the surface portion of the external object indicated by environment information created based on measurement data by an external-object recognition sensor (46, 47) is large, corrects the environment information at the contact location in such a way as to make the position and posture of the contact surface match the estimates.
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公开(公告)号：US09964953B2
公开(公告)日：2018-05-08
申请号：US15100156
申请日：2014-11-24
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Tetsuya Taira
IPC: G05D1/02 , G01S13/87 , G01S13/93 , G01S17/87 , G01S17/93 , G01S15/93 , G01S13/88 , G01S15/87 , G01S13/86 , G01S7/40 , G01S7/497 , G01S7/52
CPC classification number: G05D1/0212 , G01S7/40 , G01S7/4026 , G01S7/497 , G01S7/4972 , G01S7/52004 , G01S13/86 , G01S13/87 , G01S13/881 , G01S13/931 , G01S15/87 , G01S15/931 , G01S17/87 , G01S17/936 , G01S2007/4034 , G01S2007/52012 , G01S2013/9353 , G01S2013/9371 , G01S2015/939 , G05D1/024 , G05D2201/0217
Abstract: An autonomous moving object includes: at least one distance sensor configured to detect distances to first and second positions located in a moving direction of the autonomous moving object on a road surface; and a determination unit configured to calculate a difference between a differential time between a time when the distance value to the first position detected by the at least one distance sensor is greater than a first threshold value and a time when the distance value to the second position is greater than a second threshold value and a moving time in which the autonomous moving object moves between the first and second positions and to determine that the distance sensor is abnormal only when the calculated difference is equal to or greater than a predetermined value.
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