作者：周宇航

学位名称：硕士

出处：北京理工大学机电学院 2016

关键词：仿人机器人；摔倒检测；运动规划；柔顺控制

摘要：仿人机器人在行走和作业过程中往往会因自身或者环境因素摔倒，机器人摔倒可能导致其自身部件损坏，无法完成任务。目前国内外已经开展了仿人机器人摔倒保护的研究，其中大部分采用仿生手段对机器人进行摔倒运动规划。然而，对于仿人机器人摔倒利用手臂支撑减小损伤的情况鲜有研究。本文开展关于仿人机器人前摔保护的研究，利 ...

作者：Zhaoyang Cai¹;Xuechao Chen¹;Qingqing Li¹;Huaxin Liu¹;Zhangguo Yu¹; （¹ School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.）

出处：Biomimetics (Basel, Switzerland) 2022

关键词：bionic;humanoid robot;mechanism design.

摘要：The foot is an important part of humanoid robot locomotion that can help with shock absorption while making contact with the ground. The mechanism of ...

发明人：黄强，赖俊杭，陈学超，余张国，高峻峣，李庆庆，李超

申请日期：2022.08.26

摘要：本发明公开了机器人三自由度电驱动耦合关节的运动可行范围线性界定方法，由未超限电机转角向量对应的关节角向量构成运动可行关节角向量集合，将运动可行关节角向量集合沿任意关节的关节可行运动范围分层切片，得到数据切片子集并进行边缘检测，得到边缘可行切片集合；整合所有边缘可行切片集合，按所属近似平面分类，得到待 ...

发明人：黄强，赖俊杭，陈学超，余张国，高峻峣，李庆庆

申请日期：2022.08.23

摘要：本发明公开了一种基于双层模型预测控制的双足机器人全向行走质心轨迹规划方法，上层MPC在满足ZMP稳定性约束和质心运动可行域约束的条件下，得到稀疏的质心运动轨迹和ZMP轨迹；下层MPC以跟踪上层稀疏轨迹为目标，得到密集质心位置运动轨迹；该密集轨迹经质心轨迹检测器判定无发散后，输出当前时刻的质心运动位置 ...

发明人：黄强，赖俊杭，陈学超，余张国，高峻峣，李庆庆，李超

申请日期：2022.07.29

摘要：本发明公开了基于联邦卡尔曼滤波的双足机器人行走质心状态估计方法，惯性滤波器、运动学滤波器和线性倒立摆滤波器，分别处理惯性测量单元、关节码盘和力传感器的量测信息，经卡尔曼滤波时间更新和量测更新，得到次优质心状态估计向量和对应的误差协方差矩阵；主滤波器经卡尔曼滤波时间更新，得到次优质心状态估计向量和对应 ...

作者：Zhifa Gao;Xuechao Chen;Zhangguo Yu;Lianqiang Han;Jintao Zhang;Gao Huang （¹ School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China. ² Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, China.）

出处：Biomimetics (Basel, Switzerland) 2023

关键词：angular momentum;biped robot;joint torque control.

摘要：Biped robots swing their legs alternately to achieve highly dynamic walking, which is the basic ability required for them to perform tasks. However, s ...

作者：Huang, Qiang¹;Dong, Chencheng²;Yu, Zhangguo³;Chen, Xuechao⁴;Li, Qingqing⁵;Chen, Huanzhong⁶;Liu, Huaxin⁷; （¹School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, with the International Joint Research Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, and also with the State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081 China (e-mail: qhuang@bit.edu.cn).;²School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, and also with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China (e-mail: 3120195094@bit.edu.cn).;³School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, with the International Joint Research Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, and also with the State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081 China (e-mail: yuzg@bit.edu.cn).;⁴School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, with the International Joint Research Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, and also with the State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081 China (e-mail: chenxuechao@bit.edu.cn).;⁵School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, and also with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China (e-mail: hexb66@bit.edu.cn).;⁶School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, and also with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China (e-mail: 3120195092@bit.edu.cn).;⁷School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, and also with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China (e-mail: 0077@bit.edu.cn).）

出处：IEEE/ASME Transactions on Mechatronics 2022

关键词：CAPTURABILITY-BASED ANALYSIS;IMPEDANCE CONTROL;LEGGED LOCOMOTION;WALKING;UNEVEN;JOINT;MANIPULATION;MODEL

摘要：Compliance control is important for the realization of disturbance absorption in biped robots. However, under a sustained disturbance, compliance cont ...

作者：韩连强¹;，陈学超^1,2;，余张国^1,2;，高志发¹;，黄岩^1,2;，黄强^1,2; （¹北京理工大学机电学院；²仿生机器人与系统教育部重点实验室）

出处：自动化学报 2022

关键词：欠驱动双足机器人；离散地形；平衡控制；虚拟约束；模型预测控制

摘要：欠驱动双足机器人在行走中为保持自身的平衡,双脚需要不间断运动.但在仅有特定立足点的离散地形上很难实现调整后的落脚点,从而导致欠驱动双足机器人在复杂环境中的适应能力下降.提出了基于虚拟约束（Virtual constraint,VC）的变步长调节与控制方法,根据欠驱动双足机器人当前状态与参考落脚点设计 ...

发明人：陈学超，张雨，何鹏发，芮思语，刘嘉仪，张轩宇，余张国

申请日期：2022.04.18

摘要：本发明公开了一种可自动包络夹紧和回弹的多爪夹持器，夹持爪的第三关节末端为半齿轮结构，夹持物体时，第三关节在圆柱形中轴齿条的作用下进行绕轴旋转，夹持爪的第二关节上端在通过连杆与圆柱形中轴齿条向连接，夹持过程中圆柱形中轴齿条的平移运动带动第二关节的绕轴旋转，第二关节和第三关节的绕轴旋转实现夹持器大角度大 ...

发明人：黄强，仪传库，陈学超，余张国，李龙，石青

申请日期：2022.05.07

摘要：本发明提供一种小型可调式大阻尼直线阻尼器，包括底部支架、阻尼器外壳、阻尼器活塞模块、阻尼器端盖模块、顶部支架和弹簧支撑模块，阻尼器活塞模块包括活塞杆、流速阀、单向阀和活塞片，活塞片固定在活塞杆上，且活塞片下方固定流速阀，流速阀上加工有孔径不同的流速孔；活塞片上加工有流量孔和单向孔，流量孔靠近活塞杆、 ...