作者： Zhang, Xiaochen¹; Yu, Zhangguo^{1, 2}; Chen, Xuechao^{1, 2}; Huang, Gao³; Zhu, Min⁴; Zhao, Lingxuan¹; Qiu, Xuejian¹; Huang, Qiang^{1, 2}

出处： 2022 IEEE International Conference on Cyborg and Bionic Systems, CBS 2022 Wuhan, China 2023

会议录： 228-233

作者： Zheng,Tao¹;Li,Hui²;Wang,Xiang³;Jiang,Zhihong²;Ceccarelli,Marco⁴;Huang,Qiang²; （¹School of Instrument and Electronics Engineering, North University of China, Taiyuan, China;²School of Mechatronical Engineering, the Beijing Advanced Innovation Center for Intelligent Robots and systems, Beijing Institute of Technology, Beijing, China;³China Academy of Space Technology, Beijing, China;⁴Laboratory of Robot Mechatronics, Department of Industrial Engineering, University of Rome Tor Vergata, Roma, Italy）

出处： IEEE Transactions on Industrial Electronics 2023 P1-8

摘要： Aiming at several key problems, such as motion discontinuity, getting stuck and body deformation, and appearing in the motion of wall-pressing pipelin ...

作者： Qi, Haoxiang¹;Chen, Xuechao^1,2,3;Yu, Zhangguo^1,2,3;Huang, Gao^4,5;Liu, Yaliang¹;Meng, Libo¹;Huang, Qiang^1,2,3 （¹Intelligent Robot Inst, Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Minist Educ, Int Joint Res Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China.;³Natl Key Lab Autonomous Intelligent Unmanned Syst, Beijing 100081, Peoples R China.;⁴Beijing Univ Technol, Fac Informat Technol, Beijing 100124, Peoples R China.;⁵Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China.）

出处： IEEE TRANSACTIONS ON ROBOTICS 2023

关键词： LANDING MOTION; FORCE CONTROL; MODEL

摘要： Highly dynamic movements such as jumping are important to improve the agility and environmental adaptation of humanoid robots. This article proposes a ...

作者： Zhu, Xin¹; Gergondet, Pierre²; Cai, Zhaoyang¹; Chen, Xuechao¹; Yu, Zhangguo¹; Huang, Qiang¹; Kheddar, Abderrahmane² （¹Beijing Institute of Technology (BIT), Beijing, China;²CNRS-AIST Joint Robotics Laboratory, Tsukuba, Japan）

出处： IEEE/ASME Transactions on Mechatronics 2023 P1-13

作者： Zhao,Chuan¹;Liu,Menghua¹;Huang,Xiao¹;Ma,Yifan¹;Zhang,Bainan²;Li,Hui¹;Huang,Qiang¹;Jiang,Zhihong¹; （¹School of Mechatronical Engineering, Tangshan Research Institute, Beijing Institute of Technology, Beijing, China;²China Academy of Space Technology, Beijing, China）

出处： IEEE/ASME Transactions on Mechatronics 2023 P1-12

摘要： To address the current problem of decoupling between joints and the fixed synergy relationship of underactuated fingers, an adaptive and dexterous und ...

作者： Zhao,Lingxuan¹;Yu,Zhangguo¹;Han,Lianqiang¹;Chen,Xuechao¹;Qiu,Xuejian¹;Huang,Qiang¹; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China）

出处： IEEE/ASME Transactions on Mechatronics 2023 P1-11

摘要： Wheeled-legged humanoid robots combine the rough terrain compliance of humanoid robots with the high efficiency of wheeled robots, enabling the robot ...

作者： Dong, Chencheng^1,2;Chen, Xuechao^1,2,3;Yu, Zhangguo^1,2,3;Liu, Huaxin⁴;Meng, Fei^1,2;Huang, Qiang^1,2,3 （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China.;³Natl Key Lab Autonomous Intelligent Unmanned Syst, Beijing 100081, Peoples R China.;⁴BIT, Adv Innovat Ctr Intelligent Robot & Syst, Beijing 100811, Peoples R China.）

出处： IEEE-ASME TRANSACTIONS ON MECHATRONICS 2023

关键词： HUMANOID ROBOT; HIGH-POWER; TORQUE; PLATFORM

摘要： Toward swift running on biped robots, this article provides a complete design approach for a robot leg featuring reduced rotational inertia and introd ...

作者： Meng, Xiang¹;Yu, Zhangguo^2,3,4;Chen, Xuechao^2,3,4;Huang, Zelin¹;Meng, Fei^2,3,4;Huang, Qiang^2,3,4 （¹Beijing Inst Technol BIT, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;³Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China.;⁴Natl Key Lab Autonomous Intelligent Unmanned Syst, Beijing 100081, Peoples R China.）

出处： IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2023

关键词： BIPEDAL WALKING; DYNAMICS; CONTACT; OPTIMIZATION; MODEL

摘要： For humanoid robots, online motion generation on non-flat terrain remains an ongoing research challenge. Computational complexity is one of the primar ...

作者： Han, Lianqiang¹; Chen, Xuechao¹; Yu, Zhangguo¹; Gao, Zhifa¹; Huang, Gao²; Zhang, Jintao¹; Hashimoto, Kenji³; Huang, Qiang¹ （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;²Faculty of Information Technology, Beijing University of Technology, Beijing, China;³Department of Mechanical Engineering Informatics, Meiji University/Humanoid Robotics Institute (HRI), Waseda University, Kanagawa, Japan）

出处： Robotica 2023 Vol.Vol.41 No.No.2 P789-805

作者： Han, Lianqiang¹; Chen, Xuechao^{1, 2}; Yu, Zhangguo^{1, 2}; Zhu, Xishuo³; Hashimoto, Kenji^{4, 5}; 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;³Intelligent Mine Research Institute, China Coal Research Institute Co., Ltd., Beijing; 100013, China;⁴Department of Mechanical Engineering Informatics, Meiji University, Tokyo, Kanagawa; 214-8571, Japan;⁵Humanoid Robotics Institute (HRI), Waseda University, Tokyo; 162-8480, Japan）

出处： Science China Information Sciences 2023 Vol.66 No.8