作者： Zhao, Yue¹;Deng, Yan¹;Chen, Junnan¹;Kojima, Masaru²;Huang, Qiang¹;Arai, Tatsuo^1,3;Liu, Xiaoming¹ （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Osaka Univ, Dept Mat Engn Sci, Osaka 5608531, Japan.;³Univ Electrocommun, Ctr Neurosci & Biomed Engn, Tokyo 1828585, Japan.）

出处： APPLIED SCIENCES-BASEL 2024 Vol.14 No.2

关键词： ATOMIC-FORCE; MICROMANIPULATION; FABRICATION

摘要： In the past few decades, researchers have conducted extensive studies on cell micromanipulation methods. However, there has consistently been a lack o ...

作者： Zhang, Runming¹;Yu, Zhangguo¹;Chen, Xuechao¹;Huang, Qiang¹ （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.）

出处： JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2024 Vol.110 No.1

关键词： PATTERN GENERATION; PREVIEW CONTROL; LOCOMOTION; DYNAMICS

摘要： Controlling a biped robot to walk through rough terrains is crucial to the robot's field application. For a human in the workplace, the ability to fle ...

作者： Zhang, Yuanxi¹;Chen, Xuechao^1,2;Meng, Fei^1,2;Yu, Zhangguo^1,2;Du, Yidong¹;Gao, Junyao^1,2;Huang, Qiang^1,2 （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： JOURNAL OF BIONIC ENGINEERING 2024

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 ...

发明人： 刘晓明，李运生，陈卓，李玉洋，柳丹，唐小庆，王乔，黄强

申请人： 北京理工大学

申请号： 202310177102.X

申请日期： 2023.02.28

摘要： 本发明公开了一种基于声镊的无接触核酸采集机器人，该机器人包括：采样液滴注射器，用于挤出采样液滴；检测试管输送系统，用于医用检测试管的输送、替换、开盖以及关盖；超声悬浮末端采样机械臂系统，包括机械臂和超声悬浮声镊末端执行器；超声悬浮声镊末端执行器用于捕获采样液滴并使其实现悬浮，并通过机械臂的运动将采样 ...

发明人： 明爱国，孙能祥，孟非，顾赛，刘伯韬，黄强

申请人： 北京理工大学

申请号： 202310087358.1

申请日期： 2023.02.09

摘要： 本发明公开了一种基于深度强化学习的单腿机器人连续跳跃控制方法，根据机器人正运动学计算实时腿长，并将实时腿长与有限状态机中预设的目标腿长进行对比，判断是否进行跳跃阶段切换；虚拟弹簧‑阻尼模根据当前跳跃阶段计算足部末端虚拟力，进而得到所需的关节力矩，控制机器人进行运动；虚拟弹簧‑阻尼模型中的刚度、阻尼由 ...

发明人： 刘晓明，白宸豪，陈卓，柳丹，李玉洋，黄强，新井健生

申请人： 北京理工大学

申请号： 202310213755.9

申请日期： 2023.03.08

摘要： 本发明公开了一种基于声驱气泡振荡的微混合机器人操作装置及混合控制方法，不仅能够在混合过程中加入三自由度机器人平台辅助实现自动化控制，而且也能显著提高微混合器在空间上的混合效率；将其与视觉识别控制进行结合能够进一步简化混合操作；对比现有的微混合器混合方式，基于声驱气泡振荡的微混合机器人装置可以在生物化 ...

作者： Zuo, Zhaofeng¹;Liu, Xiaoming¹;Tang, Xittoging;Liu, Fengyu¹;Liu, Dan¹;Li, Yuyang¹;Huang, Qiang¹

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

会议录： 306-310

摘要： The mechanical characterization of cell is important for knowing the physiological state and studying diseases of organism. While many approaches are ...

作者： Tao, Han¹;Wang, Huaping¹;Hou, Yaozhen¹;Guo, Siyu¹;Lin, Kaijun¹;Wang, Maolin¹;Huang, Qiang¹;Fukuda, Toshio¹

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

会议录： 128-133

摘要： In the field of biomedicine, contact micromanipulations are mostly based on multi-robot coordinated operations to achieve mechanical contact interacti ...

作者： Li,Yuke¹;Tang,Xiaoqing¹;Liu,Xiaoming¹;Liu,Dan¹;Chen,Zhuo¹;Kojima,Masaru²;Huang,Qiang¹;Arai,Tatsuo¹;

出处： 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 Detroit 2023

会议录： 6660-6667

摘要： In the last decade, researchers have been trying to develop many microrobots that mimic the extraordinary abilities of bionts in complex environments. ...

作者： Chen,Zhuo¹;Liu,Xiaoming¹;Liu,Dan¹;Tang,Xiaoqing¹;Huang,Qiang¹;Arai,Tatsuo¹²;

出处： 2nd International Conference on Cognitive Computation and Systems, ICCCS 2023 Urumqi 2023

会议录： Vol.2029 CCIS 28-33

摘要： Using low-cost visual sensors to assist indoor and outdoor navigation is an important method to solve the problem of visually impaired people living a ...