作者:熊光明,黄志敏,高峻峣 (北京理工大学)
出处:微计算机信息杂志 2006
关键词:遥操作;无线通信;移动机器人;力反馈;DirectInput
摘要:构建了基于网络遥操作系统,通过人机交互界面完成终端对移动机器人的遥控操作.考虑到视频信息形式单一,在移动机器人遥操作系统中采用WingMan Strike Force 3D操给杆为操作呕者提供与机器人周围环境相匹配的力信息以提高提喻和的可靠性.利用Visual c++ 6.0进行编程,采用Direc ...
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:高峻峣,张袁熙,陈学超,余张国,杜沂东,黄强
申请日期:2023.03.28
摘要:本发明公开一种基于模仿学习和强化学习的双足机器人运动控制方法,将仿真环境中双足机器人状态观测值、上一周期期望动作和命令编码输入神经网络B,输出并记录下一周期期望动作,并将其拼接成轨迹,计算拼接轨迹与抽取轨迹的容忍值,确定对神经网络B输出进行量化评价的综合奖励是进行增益还是折损,然后用于神经网络B的优 ...
发明人:黄强,高峻峣,张春雷,高建程
申请日期:2020.12.04
摘要:本发明提供一种仿人机器人及其多转动自由度踝关节,包括:十字轴,包括相互垂直的第一方向轴和第二方向轴,第一方向轴用于可转动地安装在小腿腿干的下连接部,第二方向轴为具有通孔的空心轴;踝支座,踝支座具有转轴,转轴插接进入第二方向轴的通孔内,以使得踝支座能绕所述第二方向轴转动;踝关节第一传动轴和踝关节第二传 ...
发明人:黄强,张春雷,高峻峣,高建程
申请日期:2020.12.04
摘要:本发明提供一种仿生机器人及其斜盘式踝关节,所述斜盘式踝关节包括动力输入轴、斜盘传动机构、摆动传动轴和踝支座。其中,所述斜盘传动机构包括斜盘和两个推杆,所述斜盘安装在所述动力输入轴上,所述斜盘具有倾斜端面,两个所述推杆的一端对称地抵靠在所述斜盘的倾斜端面,以使得由所述动力输入轴带动所述斜盘的旋转运动转 ...
作者:Weilong Zuo1 2;Junyao Gao1 2;Jingwei Cao1 2;Xilong Xin1 2;Mingyue Jin1 2;Xuechao Chen1 2; (1 School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China. 2 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:control;fall;humanoid robot;trajectory optimization.
摘要:When humanoid robots work in human environments, falls are inevitable due to the complexity of such environments. Current research on humanoid robot f ...
作者:Sai Gu,Fei Meng,Botao Liu,Junyao Gao,Qiang Huang (School of Mechatronical Engineering,Beijing Institute of Technology,100081 Beijing,China;School of Mechatronical Engineering,Beijing Institute of Technology,100081 Beijing,China;Key Laboratory of Biomimetic Robots and Systems,Ministry of Education,Beijing 100081,China)
出处:仿生工程学报(英文版) 2024
关键词:Quadruped robot;High dynamic motion control;Periodic limit cycle;Trajectory optimization
摘要:Aiming at the environment such as ravines and obstacles that may be encountered in the actual movement,this paper pro-poses a method for optimizing th ...
作者:Yuanxi Zhang1;Xuechao Chen1 2;Fei Meng1 2;Zhangguo Yu1 2;Yidong Du1;Zishun Zhou1;Junyao Gao1 2; (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.)
出处:Biomimetics (Basel, Switzerland) 2024
关键词:adaptive locomotion;bipedal robot;period dynamic gait;reinforcement learning.
摘要:Standard alternating leg motions serve as the foundation for simple bipedal gaits, and the effectiveness of the fixed stimulus signal has been proved ...
作者:Yuanxi Zhang1;Xuechao Chen1,2;Fei Meng 1,2;Zhangguo Yu1,2;Yidong Du1;Junyao Gao1,2; & …Qiang Huang1,2; (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 2024
关键词:Bipedal robot;Reinforcement learning;Sim-to-real;Mechanics properties
摘要:Reinforcement learning (RL) provides much potential for locomotion of legged robot. Due to the gap between simulation and the real world, achieving si ...
发明人:高峻峣,金鸣岳,刘炯男,左伟龙,辛稀龙,伍泰平
申请日期:2024.03.20
摘要:本发明公开了一种仿人机器人多接触低质心爬行运动的轨迹跟踪方法。使用本发明能够。本发明首先确定仿人机器人在低质心爬行运动过程中本地与地面的接触情况,然后建立机器人运动学和动力学模型,获取运动轨迹;在采用QP算法执行仿人机器人实际爬行运动轨迹的控制过程中,结合多接触点切换算法,实现接触点之间平滑的产生和 ...