发明人：黄强，李国庆，李敬，余张国，张文辉，王艳玲，保罗·达里奥

申请日期：2023.08.07

摘要：本发明提供一种驱动检测混合控制的磁控内窥镜机器人系统，能够保证检测过程中驱动和位姿检测性能同时达到预定的最优状态，从而提高磁内窥镜机器人的驱动精度与稳定性以及位姿检测精度与效率。该磁控内窥镜机器人系统的工作原理为：系统开始运行后，基于主端操作器运动、初始位姿检测结果和设定的理想相对位姿，首先控制磁引 ...

作者：Chuanku Yi，Xuechao Chen，Yu Zhang，Zhangguo Yu，Haoxiang Qi，Yaliang Liu，Qiang Huang （School of Mechatronical Engineering，Beijing Institute of Technology，Zizhuyaun，Haidian，Beijing 100081，China；School of Mechatronical Engineering，Beijing Institute of Technology，Zizhuyaun，Haidian，Beijing 100081，China；Beijing Advanced Innovation Center for Intelligent Robots and Systems，Beijing Institute of Technology，Zizhuyuan，Haidian，Beijing 100081，China）

出处：仿生工程学报(英文版) 2024

关键词：LNZN model；GRF simulation；Humanoid foot structure；Foot parameters

摘要：There are many theories and tools for human or robot motion simulation,but most of them require complex calculations.The LNZN model(a simplified model ...

作者：Yuanxi Zhang¹;Xuechao Chen^{1   2};Fei Meng^{1   2};Zhangguo Yu^{1   2};Yidong Du¹;Zishun Zhou¹;Junyao Gao^{1   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 Chen^1,2;Fei Meng ^1,2;Zhangguo Yu^1,2;Yidong Du¹;Junyao Gao^1,2; & …Qiang Huang^1,2; （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 ...

作者：Sai Gu¹;1;Fei Meng^1,2;CA2;Botao Liu¹;3;Xuechao Chen^1,2;4;Zhangguo Yu^1,2;5;Qiang Huang^1,2;6 （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：Expert Systems with Applications 2024

摘要：For biomimetic robots to be used in the real world, it is very important to have animal-like turning motion. Excellent turning ability can help quadru ...

发明人：张雨，陈学超，孙彦博，余张国，徐天弋，张健林，魏溪桐

申请日期：2024.03.27

摘要：本发明公开了可分离式陆空两栖轮腿复合机器人，复合机器人由轮腿复合机器人和四旋翼飞行器两部分构成。轮腿复合机器人与四旋翼飞行器通过轮腿复合机器人顶部的分离结合机构可以实现两个机器人地自主分离和结合，当两者结合时构成一个既具有地面运动能力又具有飞行能力的陆空两用的轮腿复合机器人，既可以通过底部的轮腿复合 ...

发明人：李敬，李国庆，黄强，余张国，王艳玲，张文辉，李敬肖

申请日期：2023.08.07

摘要：本实用新型提供一种磁驱动肠道内窥镜，进行了高集成度和实用性的结构设计，将磁驱动内窥镜工作模块后端的各管路集束在一起，避免管路缠绕，提高使用时的安全性。该磁驱动肠道内窥镜包括：磁驱动内窥镜工作模块、连接管、操作手柄和多通道集束件；多通道集束件的输入端具有至少三个通道入口连接端，另一端具有一个通道出口连 ...

作者：Yuanxi Zhang，Xuechao Chen，Fei Meng，Zhangguo Yu，Yidong Du，Junyao Gao，Qiang Huang （School of Mechatronical Engineering，Beijing Institute of Technology，Beijing 100081，China；School of Mechatronical Engineering，Beijing Institute of Technology，Beijing 100081，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：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 sim-to ...

作者：Chencheng Dong¹;1;Xuechao Chen^1,2;2;Zhangguo Yu^1,2;CA3;Huanzhong Chen¹;4;Qingqing Li¹;5;Qiang Huang¹;6 （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：Expert Systems with Applications 2024

关键词：Biped robot;Compliance;Optimization;Step location generation;Virtual model imitation

摘要：Compliance and step location adjustments are both important for robots to maintain balance when encountering external disturbances. Compared with cont ...

作者：Jintao Zhang^1,2;Xuechao Chen^1,2;CA1;Zhangguo Yu^1,2;Lianqiang Han^1,2;Zhifa Gao^1,2;Qingrui Zhao^1,2;Gao Huang³;Ke Li⁴;Qiang Huang^1,2; （¹School of Mechatronical Engineering, Beijing Institute of Technology, No. 5, South Street, Zhongguancun, Haidian District, Beijing 100081, China;²Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, No. 5, South Street, Zhongguancun, Haidian District, Beijing 100081, China;³Faculty of Information Technology, Beijing University of Technology, No. 100, Pingleyuan, Chaoyang District, Beijing 100124, China;⁴Innovation Center for Control Actuators, Beijing Institute of Precision Mechatronics and Controls, Donggaodi, Fengtai District, Beijing 100076, China）

出处：Defence Technology 2024

关键词：Humanoid robot;Bionic structure;Passive foot structure;Rigid-elastic hybrid dynamics model;Optimal stiffness matching

摘要：Passive bionic feet, known for their human-like compliance, have garnered attention for their potential to achieve notable environmental adaptability. ...