发明人： 高峻峣，金鸣岳，刘炯男，左伟龙，辛稀龙，伍泰平

申请人： 北京理工大学

申请号： 202410320082.1

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 ...

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 第21卷 第1期 P101-111

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： Zuo, Weilong^1,2;Gao, Junyao^1,2;Liu, Jiongnan^1,2;Wu, Taiping^1,2;Xin, Xilong^1,2 （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robot & Syst, Beijing 100081, Peoples R China.）

出处： BIOMIMETICS 2024 Vol.9 No.4

摘要： When humanoid robots work in human environments, they are prone to falling. However, when there are objects around that can be utilized, humanoid robo ...

发明人： 宋萍，高峻峣，林啸龙，刘宏博

申请人： 北京理工大学

申请号： 202410204001.1

申请日期： 2024.02.23

摘要： 基于点云BEV识别算法的机器人智能放牧装置及方法，机器人上设有激光雷达，IMU，双目深度相机，RTK传感器，能够从上述感知设备中获取不同数据，结合DWA和Pointnet，通过处理系统执行导航与路径规划，并对目标做出点云分类与点云切割；处理系统基于ROS操作系统，俯瞰视角建图，以A*和DWA为基础自 ...

作者： Lin, Xiaolong¹; Song, Ping¹; Gao, Junyao¹; Liu, Han¹

出处： 2024 International Conference on Advanced Robotics, Automation Engineering and Machine Learning, ARAEML 2024 Hangzhou, China 2024

会议录： 18-22

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 第21卷 第3期 P1278-1289

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： 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 Vol.21 No.3 P1278-1289

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： 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 Vol.9 No.6 P310

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： Cao, Jingwei¹;Gao, Junyao¹;Zuo, Weilong¹;Liu, Jiongnan¹;Xin, Xilong¹;Jin, Mingyue¹

出处： 4th IEEE International Conference on Cyborg and Bionic Systems (CBS) Wuhan, PEOPLES R CHINA 2023

会议录： 222-227

摘要： In this paper, rolling stone model is proposed to analyze the impact of various collision processes on the ground tumbling motion of humanoid robot. T ...

作者： Gu, Sai¹; Meng, Fei^{1, 2}; Liu, Botao¹; Gao, Junyao^{1, 2}; Huang, Qiang^{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 2023