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、 ...

发明人：陈学超，张锦埭，余张国，孟非，黄强，赵凌萱，杜嘉恒

申请日期：2022.12.26

摘要：本发明公开了一种主被动结合的悬挂缓震轮腿机器人小腿结构，包括连接杆和直线位移测量元件；连接杆顶部连接小腿连接件，内部连接缓冲器；缓冲器下部位于小腿外壳内，且连接杆与小腿外壳之间设有直线导向机构；直线位移测量元件安装在小腿外壳上；小腿外壳通过电机连接件连接电机，电机连接机器人行走轮。本发明的小腿结构实 ...

作者：Zhaoyang Cai¹;Zhangguo Yu¹;CA1;Xuechao Chen¹;Qiang Huang^1,2;Abderrahmane Kheddar^3,4; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;²Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, China;³CNRS-AIST Joint Robotics Laboaratory, IRL3218, Tsukuba, Japan;⁴CNRS-University of Montpellier LIRMM, UMR5506, Montpellier, France）

出处：Mechatronics 2023

摘要：Efficient humanoid robots must have the ability to protect themselves during unexpected falls. In this paper, a self-protect falling trajectory librar ...

作者：Chuanku Yi¹;Xuechao Chen ^1,2;Yu Zhang¹;Zhangguo Yu^1,2;Haoxiang Qi¹;Yaliang Liu¹; & …Qiang Huang^1,2; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Zizhuyaun, Haidian, Beijing, 100081, China;²Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Zizhuyuan, Haidian, Beijing, 100081, China）

出处：Journal of Bionic Engineering

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 mo ...

作者：Weilong Zuo^{1   2};Junyao Gao^{1   2};Jingwei Cao^{1   2};Xilong Xin^{1   2};Mingyue Jin^{1   2};Xuechao Chen^{1   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：Zelin Huang，Chencheng Dong，Zhangguo Yu，Xuechao Chen，Fei Meng，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) 2023

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 simultane-ously optimize desired joint torqu ...

发明人：孙彦博，陈学超，张雨，耿政，徐子极，余张国

申请日期：2023.04.03

摘要：本实用新型公开了一种适用于轮腿机器人的高拓展性模块化胸腔，包括电源层、控制层、雷达层，电源层、控制层、雷达层自下往上依次排布，且三层之间可拆卸连接，实现模块化分层设计。电源层用于固定安装电池组件，且电源层与机器人腿部机构的转动连接，增强了该胸腔结构对不同种轮腿机器人的适配性。控制层侧板可以通过法兰连 ...

发明人：张锦涛，陈学超，赵凌萱，韩连强，余张国，黄强

申请日期：2023.08.25

摘要：本发明公开了触地感知变阻尼缓冲足部装置，包括主体支撑件和柔性足底，主体支撑件的两端分别设有滑道，每个滑道内可滑动装有滑块部件，滑道的顶部固定连接弹簧盖；滑块部件包括外滑块，外滑块可滑动套装在滑道内，外滑块的上部外壁与滑道内壁接触，且在外滑块接触处的外壁上沿周向设有励磁线圈和磁流变液；在外滑块中间位置 ...