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 ...

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. ...

发明人：余张国，徐浩琛，陈学超，谢光强，马晓帅

申请日期：2024.05.21

摘要：本发明公开了一种可替换刚度曲线的拉伸式被动变刚度机构，包括齿条模块、齿轮模块和凸轮弹簧模块，齿条模块由齿条模块壳体、齿条模块绳连接板和齿条组成，齿轮模块沿水平方向呈对称结构，由两块齿轮模块轴承板、两个轴承、齿轮模块支撑板、齿轮模块绳连接板和齿轮轴组成，两个凸轮弹簧模块对称安装于拉伸式变刚度机构上下两 ...

发明人：余张国，徐浩琛，陈学超，马晓帅，谢光强，孟非，黄强

申请日期：2024.05.21

摘要：本发明公开了一种变减速比‑变刚度耦合的仿人机器人膝关节，包括电机模块、推杆模块、变构四连杆变速比模块、变刚度弹性单元、绳索和底板，电机模块提供主驱动力，推杆模块实现关节刚度和减速比的调节，变构四连杆变速比模块通过改变四连杆机构输入轴和输出轴的间距实现对减速比曲线的调整，变刚度弹性单元、绳索以及电机模 ...

发明人：董宸呈，陈学超，余张国，赖俊杭，陈卓，黄强

申请日期：2024.04.19

摘要：本发明公开了一种统一化模型与多控制点模型预测的变形态人形机器人平衡控制方法，将机器人受到的常见外部扰动统一为虚拟力/力矩，上层控制器基于虚拟力/力矩，采用模型预测控制，计算期望接触力和力矩并进行分配，下层控制器基于期望接触力和力矩，分配机器人各个接触点的作用力，同时，下层控制器还设计双向耦合启发式导 ...

发明人：陈学超，刘浩洲，马逸蓓，余张国，孟非，黄强

申请日期：2024.06.03

摘要：本发明公开了一种人形机器人操作站位的规划方法，定义机器人操作动作模板，根据机器人操作动作模板设计机器人具体要执行的一系列期望操作动作；构建操作轨迹自动生成器，根据上述期望操作动作自动生成机器人虚拟运动轨迹；基于粒子群优化算法规划机器人操作站位：随机生成数个机器人虚拟站位作为粒子，在每个虚拟站位上执行 ...

发明人：李超，陈学超，余张国，漆桁博，李庆庆，黄强

申请日期：2024.04.18

摘要：本发明公开了一种双足机器人导航过程中的局部地形地图构建方法，属于双足机器人建图、自主导航领域。深度相机不断采集地形的点云数据，由感知计算单元进行预处理后与前一帧点云进行配准，获取精准的帧间相对位姿；再根据相对位姿来更新高程图，得到局部地形地图；配准时，使用机器人的定位信息获取两配准点云相对位姿的初值 ...