黄强
作者: 韩连强1;陈学超1,2;余张国1,2;高志发1;黄岩1,2;黄强1,2 (1北京理工大学机电学院, 北京, 100081;2仿生机器人与系统教育部重点实验室, 仿生机器人与系统教育部重点实验室, 北京, 100081)
出处: 自动化学报 2022 第48卷 第9期 P2164-2174
关键词: 欠驱动双足机器人;离散地形;平衡控制;虚拟约束;模型预测控制
摘要: 欠驱动双足机器人在行走中为保持自身的平衡,双脚需要不间断运动.但在仅有特定立足点的离散地形上很难实现调整后的落脚点,从而导致欠驱动双足机器人在复杂环境中的适应能力下降.提出了基于虚拟约束(Virtual constraint, VC)的变步长调节与控制方法,根据欠驱动双足机器人当前状态与参考落脚点设 ...
作者: 韩连强1;,陈学超1,2;,余张国1,2;,高志发1;,黄岩1,2;,黄强1,2; (1北京理工大学机电学院;2仿生机器人与系统教育部重点实验室)
出处: 自动化学报 2022 第48卷 第9期 P2164-2174
关键词: 欠驱动双足机器人;离散地形;平衡控制;虚拟约束;模型预测控制
摘要: 欠驱动双足机器人在行走中为保持自身的平衡,双脚需要不间断运动.但在仅有特定立足点的离散地形上很难实现调整后的落脚点,从而导致欠驱动双足机器人在复杂环境中的适应能力下降.提出了基于虚拟约束(Virtual constraint,VC)的变步长调节与控制方法,根据欠驱动双足机器人当前状态与参考落脚点设计 ...
作者: Han, Lianqiang1;Chen, Xuechao1;Yu, Zhangguo1;Gao, Zhifa1;Huang, Gao2;Zhang, Jintao1;Hashimoto, Kenji3;Huang, Qiang1; (1 Beijing Inst Technol, Sch Mechatron Engn, Beijing, Peoples R China. ;2 Beijing Univ Technol, Fac Informat Technol, Beijing, Peoples R China. ;3 Waseda Univ, Humanoid Robot Inst HRI, Dept Mech Engn Informat, Meiji Univ, Kawasaki, Kanagawa, Japan.)
出处: ROBOTICA 2022
关键词: CONTROL DESIGN; OPTIMIZATION
摘要: Biped robots with dynamic motion control have shown strong robustness in complex environments. However, many motion planning methods rely on models, w ...
作者: Han, Lian-Qiang1; Chen, Xue-Chao1, 2; Yu, Zhang-Guo1, 2; Gao, Zhi-Fa1; Huang, Yan1, 2; Huang, Qiang1, 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: Zidonghua Xuebao/Acta Automatica Sinica 2022 Vol.Vol.48 No.No.9 P2164-2174
作者: Xu, Haochen1; Yu, Zhangguo1, 2; Chen, Xuechao1, 2; Dong, Chencheng1; Chen, Huanzhong1; Huang, Qiang1, 2 (1School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;2Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China)
出处: IET Cyber-systems and Robotics 2022
作者: Li, Xin;Wang, Huaping;Dong, Xinyi;Shi, Qing;Sun, Tao;Shimoda, Shingo;Huang, Qiang;Fukuda, Toshio (1Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing; 100081, China;2The Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing; 100081, China;3School of Medical Technology, Beijing Institute of Technology, Beijing; 100081, China;4Intelligent Behavior Control Collaboration Unit, RIKEN Center of Brain Science, Nagoya; 463-0003, Japan)
出处: Microsystems and Nanoengineering 2022 Vol.8 No.1 P1-11
关键词: FABRICATION;CONSTRUCTS
摘要: Engineered extracellular matrices (ECMs) that replicate complex in-vivo features have shown great potential in tissue engineering. Biocompatible hydro ...
作者: Huang, Qiang1;Dong, Chencheng2;Yu, Zhangguo3;Chen, Xuechao4;Li, Qingqing5;Chen, Huanzhong6;Liu, Huaxin7; (1School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, with the International Joint Research Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, and also with the State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081 China (e-mail: qhuang@bit.edu.cn).;2School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, and also with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China (e-mail: 3120195094@bit.edu.cn).;3School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, with the International Joint Research Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, and also with the State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081 China (e-mail: yuzg@bit.edu.cn).;4School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, with the International Joint Research Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China, and also with the State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing 100081 China (e-mail: chenxuechao@bit.edu.cn).;5School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, and also with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China (e-mail: hexb66@bit.edu.cn).;6School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, and also with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China (e-mail: 3120195092@bit.edu.cn).;7School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081 China, with the Beijing Advanced Innovation Center for Intelligent Robotics and System, Beijing Institute of Technology, Beijing 100081 China, and also with the Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081 China (e-mail: 0077@bit.edu.cn).)
出处: IEEE/ASME Transactions on Mechatronics 2022 Vol.27 No.5 P1-11
关键词: CAPTURABILITY-BASED ANALYSIS;IMPEDANCE CONTROL;LEGGED LOCOMOTION;WALKING;UNEVEN;JOINT;MANIPULATION;MODEL
摘要: Compliance control is important for the realization of disturbance absorption in biped robots. However, under a sustained disturbance, compliance cont ...
作者: Liu, Yonghui1; Zhang, Weimin1, 2, 3; Li, Fangxing1, 2, 3; Zuo, Zhengqing1; Huang, Qiang1, 2, 3 (1School of Mechatronical Engineering, Beijing Institute of Technology, Beijing; 100081, China;2Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing Institute of Technology, Beijing; 100081, China;3Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing; 100081, China)
出处: Sensors 2022 Vol.22 No.12
作者: Zhang, Runming1, 2; Meng, Libo1, 2; Yu, Zhangguo1, 2, 3, 4; Chen, Xuechao1, 2, 3, 4; Liu, Huaxin1, 2; Huang, Qiang1, 2, 3, 4 (1School of Mechatronic Engineering, Beijing Institute of Technology, Beijing; 100081, China;2Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing; 100081, China;3International Joint Research Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing; 100081, China;4State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing; 100081, China)
出处: IEEE/ASME Transactions on Mechatronics 2022 Vol.27 No.6 P5005-5015
作者: Kim, Eunhye1;Takeuchi, Masaru2;Ohira, Ryosuke3;Nomura, Takuto2;Hasegawa, Yasuhisa2;Huang, Qiang4;Fukuda, Toshio5;
出处: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 2021
会议录: Vol.2021-May 643-648
摘要: In spite of recent high attention of the biohybrid robot system, the previous researches focused on actuation system depend on simple on/off control w ...