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：Qiang HUANG;Wu ZHANG;Donglin QIU;Xuechao CHEN;Qiang CHEN

申请日期：2020.09.28

摘要：The present disclosure provides a motor stator and a motor. The motor stator comprises a core; windings wound on the core; and a three-dimensional fit ...

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 ...

作者：Yue Dong¹;Zhangguo Yu¹;CA1;Xuechao Chen¹;CA2;Fei Meng¹;Xin Zhu¹;Pierre Gergondet²;Qiang Huang¹; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;²CNRS-AIST Joint Robotics Laboratory, IRL, Tsukuba, Japan）

出处：Journal of Intelligent & Robotic Systems 2023

关键词：Manipulability index;Inverse kinematics;Parameterization of redundancy;Redundant manipulator

摘要：Real-time manipulability maximization is a common sub-task for the a redundant manipulator. However, due to the heavy computational burden and non-con ...

发明人：余张国，张筱晨，陈学超，任思宇，张锦埭，孟立波，黄强

申请日期：2023.05.15

摘要：本发明公开了一种用于轮式双足机器人动态行进的分层优化控制方法，具体为：由目标速度和当前速度、目标位置和当前位置，通过模型预测获得最优的参考前向位置 最优的参考前向速度 最优的参考前向加速度 和最优的未来轨迹γ^*；利用γ^*及一阶小车倒立摆模型的内动态，通过非 ...

发明人：董宸呈，陈学超，余张国，陈焕钟，李庆庆，黄强

申请日期：2023.04.21

摘要：本发明公开了一种主被动结合的双足机器人在线落脚点生成与调节方法，包括：确定规划零力矩点轨迹 和规划质心轨迹 设计虚拟倒立摆质心跟踪控制器，控制期望零力矩点轨迹 使机器人的期望质心轨迹 跟踪 根据实际零力矩点位置 和 计算外部作用力，并将其作用在虚拟倒立摆上进行状态更新；根据 估计未来两步内的估计质心 ...

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：孟非，季子上，刘伯韬，刘育榕，钟佳桂，陈学超

申请日期：2023.02.28

摘要：本发明公开一种具有灵活运动作业能力的含机械臂四足机器人，属于机器人技术领域。该四足机器人包括机械臂和腿部机构，四个腿部机构均布在机身本体下方，且左右腿部机构对称设置、前后腿部机构非对称设置；腿部机构为串联腿结构，包括外摆电机、腿杆组件和内外侧腿杆电机，外摆电机与机身本体连接，U型架端面固定外摆电机、 ...