作者： Liu, Jiaxin¹; Wang, Huaping²; Shi, Qing²; Dong, Xinyi¹; Lin, Kaijun¹; Sun, Tao²; Huang, Qiang²; Fukuda, Toshio¹

出处： 2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022 No. 49 Zhong Hua South Road, Nan Ming District, Guiyang, China 2022

会议录： 225-230

作者： Chen,Xie¹²³;Sun,Tao¹²³;Wei,Zihou¹²³;Chen,Zhe¹²⁴;Wang,Huaping¹²;Huang,Qiang¹²;Fukuda,Toshio¹²;Shi,Qing¹²³; （¹Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, 100081, China;²Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, 100081, China;³School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China;⁴School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China）

出处： Biosensors and Bioelectronics 2022 Vol.214

摘要： Viscoelastic hydrogel microfibers have extensive applications in tissue engineering and regenerative medicine, however, their viscoelasticity is still ...

作者： Hou, Yaozhen¹;Wang, Huaping¹;Zhong, Shihao²;Qiu, Yukang³;Shi, Qing⁴;Sun, Tao³;Huang, Qiang⁴;Fukuda, Toshio⁴; （¹ Beijing Inst Technol, Key Lab Biomimet Robots & Syst, Minist Educ, Beijing 100081, Peoples R China. ;² Beijing Inst Technol, Sch Med Technol, Beijing 100081, Peoples R China. ;³ Beijing Inst Technol, Intelligent Robot Inst, Sch Mechatron Engn, Beijing 100081, Peoples R China. ;⁴ Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China.）

出处： IEEE-ASME TRANSACTIONS ON MECHATRONICS 2022

关键词： HYDRODYNAMIC BOUNDARY-CONDITIONS; MICROROBOTS; NAVIGATION; SYSTEM; SLIP

摘要： Magnetically controlled microrobots have attracted wide attention in noninvasive therapy. However, it is challenging to design a microrobot with low s ...

作者： Shi, Qing^1,2;Gao, Junhui^1,2;Wang, Shengjie³;Quan, Xiaolong^1,2;Jia, Guanglu^1,2;Huang, Qiang^4,5;Fukuda, Toshio^4,5; （¹ Beijing Inst Technol, Minist Educ, Key Lab Biotnimet Robots & Syst, Beijing 100081, Peoples R China. ;² Beijing Inst Technol, Sch Mechatron Engn, Intelligent Robot Inst, Beijing 100081, Peoples R China. ;³ Tsinghua Univ, Inst Nav & Control, Dept Automat, Beijing 100190, Peoples R China. ;⁴ Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China. ;⁵ Beijing Inst Technol, Key Lab Biomimet Robots & Syst, Minist Educ, Beijing 100081, Peoples R China.）

出处： IEEE TRANSACTIONS ON ROBOTICS 2022 Vol.38 No.5 P3027-3043

关键词： LOCOMOTION; DESIGN

摘要： Legged robots are very promising for use in real-world applications, but their operation in narrow spaces is still challenging. One solution for enhan ...

作者： Yu, Zhiqiang^1,2;Shi, Qing^1,2;Wang, Huaping^1,2;Shang, Junyi³;Huang, Qiang^1,2;Fukuda, Toshio^1,2; （¹ Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Sch Mechatron Engn, Beijing 100081, Peoples R China. ;² Beijing Inst Technol, Key Lab Biomimet Robots & Syst, Minist Educ, Beijing 100081, Peoples R China. ;³ Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China.）

出处： MICROMACHINES 2022 Vol.13 No.2

关键词： CAPILLARY ABSORPTION; NANODROPLETS; DEPOSITION; NANOTUBES; MECHANISM

摘要： Nanointerconnection has been selected as a promising method in the post-Moore era to realize device miniaturization and integration. Even with many ad ...

作者： Liu, Xiaoming^{1, 2, 3}; Li, Yuyang^{1, 2, 3}; Li, Lei⁴; Kojima, Masaru⁵; Shi, Qing^{1, 2, 3}; Huang, Qiang^{1, 2, 3}; Fukuda, Toshio^{1, 2, 3}; Arai, Tatsuo^{1, 2, 3} （¹Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing; 100811, China;²State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing; 100811, China;³School of Mechatronical Engineering, Beijing Institute of Technology, Beijing; 100811, China;⁴Department of Mechanical and Process Engineering, Eth Zurich, Zurich; 8092, Switzerland;⁵Department of Materials Engineering Science, Osaka University, Osaka; 565-0871, Japan）

出处： IEEE/ASME Transactions on Mechatronics 2022 Vol.27 No.6 P4807-4818

发明人： 陈学超，张锦埭，余张国，孟非，黄强，赵凌萱，杜嘉恒

申请人： 北京理工大学

申请号： 202211671481.X

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 ...

发明人： 黄强，赖俊杭，陈学超，余张国，高峻峣，李庆庆，李超

申请人： 北京理工大学

申请号： 202211034563.3

申请日期： 2022.08.26

摘要： 本发明公开了机器人三自由度电驱动耦合关节的运动可行范围线性界定方法，由未超限电机转角向量对应的关节角向量构成运动可行关节角向量集合，将运动可行关节角向量集合沿任意关节的关节可行运动范围分层切片，得到数据切片子集并进行边缘检测，得到边缘可行切片集合；整合所有边缘可行切片集合，按所属近似平面分类，得到待 ...

发明人： 黄强，赖俊杭，陈学超，余张国，高峻峣，李庆庆

申请人： 北京理工大学

申请号： 202211010867.6

申请日期： 2022.08.23

摘要： 本发明公开了一种基于双层模型预测控制的双足机器人全向行走质心轨迹规划方法，上层MPC在满足ZMP稳定性约束和质心运动可行域约束的条件下，得到稀疏的质心运动轨迹和ZMP轨迹；下层MPC以跟踪上层稀疏轨迹为目标，得到密集质心位置运动轨迹；该密集轨迹经质心轨迹检测器判定无发散后，输出当前时刻的质心运动位置 ...

发明人： 黄强，赖俊杭，陈学超，余张国，高峻峣，李庆庆，李超

申请人： 北京理工大学

申请号： 202210904539.4

申请日期： 2022.07.29

摘要： 本发明公开了基于联邦卡尔曼滤波的双足机器人行走质心状态估计方法，惯性滤波器、运动学滤波器和线性倒立摆滤波器，分别处理惯性测量单元、关节码盘和力传感器的量测信息，经卡尔曼滤波时间更新和量测更新，得到次优质心状态估计向量和对应的误差协方差矩阵；主滤波器经卡尔曼滤波时间更新，得到次优质心状态估计向量和对应 ...