US 12,172,325 B2
Collision detection method, computer-readable storage medium, and robot
Meihui Zhang, Shenzhen (CN); Yizhang Liu, Shenzhen (CN); Youjun Xiong, Shenzhen (CN); and Huan Tan, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 6, 2022, as Appl. No. 18/075,426.
Claims priority of application No. 202111561944.2 (CN), filed on Dec. 20, 2021.
Prior Publication US 2023/0191606 A1, Jun. 22, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/1674 (2013.01) 20 Claims
OG exemplary drawing
 
1. A computer-implemented collision detection method for a robot, comprising:
calculating an external torque of a first joint of the robot based on a preset generalized momentum-based disturbance observer;
calculating an external torque of a second joint of the robot based on a preset long short-term memory network;
calculating an external torque of a third joint of the robot based on the external torque of the first joint and the external torque of the second joint; and
determining whether the robot has collided with an external environment or not based on the external torque of the third joint and a preset collision threshold.