作者： Li, Zhen^{1, 2}; Deng, Yawen^{2, 3}; Ye, Qiang²; Yu, Weihong⁴; Qi, Haoxiang³; Liu, Yaliang³; Yu, Zhangguo^{3, 5, 6, 7}; Bian, Gui-Bin²

出处： 2024 IEEE International Conference on Robotics and Automation, ICRA 2024 1-1-1, Minato Mirai, Nishi-ku, Yokohama, Japan 2024

会议录： 10779-10785

作者： Liu, Xingyang¹; Rong, Haina¹; Neri, Ferrante²; Zhang, Kuize²; Yang, Qiang³; Yu, Zhangguo⁴; Zhang, Gexiang³ （¹School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China;²Department of Computer Science, University of Surrey, Guildford, U.K;³School of Control Engineering, Chengdu University of Information Technology, Chengdu, China;⁴School of Electrical and Mechanical, Beijing Institute of Technology, Beijing, China）

出处： IEEE Transactions on Automation Science and Engineering 2024 P1-15

作者： Liu, Xingyang¹; Rong, Haina¹; Neri, Ferrante²; Yu, Zhangguo³; Zhang, Gexiang⁴ （¹School of Electrical Engineering, Southwest Jiaotong University, Chengdu; 610031, China;²Nature Inspired Computing and Engineering Research Group, School of Computer Science and Electronic Engineering, University of Surrey, Guildford, Surrey; GU2 7XH, United Kingdom;³School of Electrical and Mechanical, Beijing Institute of Technology, Beijing; 100081, China;⁴School of Automation, Chengdu University of Information Technology, Chengdu; 610225, China）

出处： International Journal of Neural Systems 2024 Vol.34 No.6

发明人： 张雨，陈学超，孙彦博，余张国，徐天弋，张健林，魏溪桐

申请人： 北京理工大学

申请号： 202410358624.4

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： 余张国，徐浩琛，陈学超，谢光强，马晓帅

申请人： 北京理工大学

申请号： 202410632149.5

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 ...

作者： Chen,Zhuo¹;Yu,Zhangguo¹²;Chen,Xuechao¹²;Meng,Fei¹²;Dong,Chencheng¹;Zhu,Xin¹;

出处： 21st IEEE International Conference on Mechatronics and Automation, ICMA 2024 Tianjin 2024

会议录： 1291-1296

摘要： Humanoid robots are required to exhibit exceptional dynamic motion capabilities, particularly in the lower extremities, while undertaking repetitive, ...

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 第21卷 第1期 P112-125

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： Gao, Zhifa¹;Chen, Xuechao^1,2;Yu, Zhangguo^1,2;Li, Chao¹;Han, Lianqiang¹;Zhang, Runming¹ （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China.）

出处： EXPERT SYSTEMS WITH APPLICATIONS 2024 Vol.238

关键词： HUMANOID ROBOT; ROUGH TERRAIN; WALKING

摘要： In order to give full play to the unique movement capabilities of biped robots that are different from traditional mobile robots, and to improve the a ...

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 Vol.256 P124887

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 ...

作者： Liu, Yaliang¹;Chen, Xuechao^1,2;Yu, Zhangguo^1,2;Qi, Haoxiang¹;Yi, Chuanku¹ （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China.）

出处： BIOMIMETICS 2024 Vol.9 No.5

关键词： MOTION

摘要： High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This a ...