作者：Xiang Meng;Zhangguo Yu;Xuechao Chen;Zelin Huang;Chencheng Dong;Fei Meng （¹ School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China. ² Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China. ³ Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing 100081, China.）

出处：Biomimetics (Basel, Switzerland) 2023

关键词：bipedal robots;online running-gait generation;speed tracking;state switching.

摘要：Smooth state switching and accurate speed tracking are important for the stability and reactivity of bipedal robots when running. However, previous st ...

发明人：陈学超，袁志诚，吴嘉豪，余张国，孟非

申请日期：2022.11.09

摘要：本发明公开了一种基于偏心结构与转轮驱动的球形机器人及其控制方法，球形机器人包括转轮机构和摆锤结构，转轮机构安装在内部结构支撑架上，摆锤结构挂接在两内部结构支撑架上，能够绕内部结构支撑架进行转动；控制方法具体为：通过机器人的实际运动状态与预期参考轨迹，得到修正广义加速度，修正广义加速度与机器人的实际运 ...

发明人：廖静平，黄高，黄强，余张国，陈学超

申请日期：2020.10.27

摘要：本发明提供了一种基于多种群遗传算法的机械结构拓扑优化方法，可以实现在体积约束条件下最小化结构柔度的拓扑设计。本发明方法的具体步骤如下：一、划分有限元网格，建立拓扑优化问题的优化模型；二、设定多种群遗传算法的操作参数；三、求解拓扑优化模型，绘制拓扑优化结果。本发明可提高寻找拓扑优化全局最优解的概率，获 ...

作者：Zelin Huang;Chencheng Dong;Zhangguo Yu;Xuechao Chen;Fei Meng & Qiang Huang （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China;²Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China）

出处：Journal of Bionic Engineering

关键词：Whole-body control;Contact force;Admittance control;Humanoid robot

摘要：Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots, since it can simultaneously optimize desired joint torqu ...

发明人：陈学超，仪传库，余张国，孟非，石青，黄强

申请日期：2023.01.09

摘要：本发明公开了一种机器人自适应地形的足部结构，包括自适应模块、锁死模块、支撑模块和滑块模块；自适应模块的支撑柱上端穿过足板主体与锁死模块的夹持器配合，两夹持器尾端通过弹性件套接在一起；支撑模块固定在足板主体上，且设有滑道，滑块模块位于支撑模块上方，滑块位于滑道中，能够沿滑道水平移动；滑块与其最近的两夹 ...

发明人：Qiang HUANG;Xuechao CHEN;Zhangguo YU;Tong WU;Mingyue QIN;Qingqing LI;Libo MENG

申请日期：2020.06.29

摘要：The present invention provides a method for monitoring a balanced state of a humanoid robot, comprising: acquiring state data of the robot falling in ...

发明人：HUANG, Qiang;GAO, Junyao;ZHANG, Chunlei;GAO, Jiancheng;YU, Zhangguo;CHEN, Xuechao;FAN, Xuxiao;ZUO, Yuyu

申请日期：2020.05.27

摘要：The present invention provides a steel belt transmission mechanism and belt wheels thereof. The steel belt transmission mechanism comprises a driving ...

发明人：Qiang HUANG;Xiaopeng CHEN;Yang XU;Zhangguo YU;Xuechao CHEN;Weimin ZHANG

申请日期：2020.01.14

摘要：The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot in ...

发明人：HUANG, Qiang;ZHANG, Wu;MENG, Fei;MENG, Zhaoping;YU, Zhangguo;QU, Daokui

申请日期：2020.07.09

摘要：A robot power joint having a turbulent flow heat dissipation structure, and a robot, the power joint comprising a motor, a joint casing body, and an e ...

作者：Lianqiang HAN¹;，Xuechao CHEN^1,2;，Zhangguo YU^1,2;，Xishuo ZHU³;，Kenji HASHIMOTO^4,5;，Qiang HUANG^1,2; （¹School of Mechatronical Engineering, Beijing Institute of Technology；²Key Laboratory of Biomimetic Robots and Systems, Ministry of Education；³Intelligent Mine Research Institute, China Coal Research Institute Co., Ltd.；⁴Department of Mechanical Engineering Informatics, Meiji University；⁵Humanoid Robotics Institute (HRI), Waseda University）

出处：Science China(Information Sciences) 2023

摘要：Dear editor,Biped robots can not only cross complex environment such as ravines and rocks \'(1)\', but can also interact in more diverse activities wi ...