仓储作者

[外文期刊] Resistant Compliance Control for Biped Robot Inspired by Humanlike Behavior SCIE EI

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 ...

[外文期刊] A heuristic gait template planning and dynamic motion control for biped robots SCIE

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 ...

[外文期刊] Balance Control of Underactuated Biped Robot for Discrete Terrain EI

作者： Han, Lian-Qiang¹; Chen, Xue-Chao^{1, 2}; Yu, Zhang-Guo^{1, 2}; Gao, Zhi-Fa¹; Huang, Yan^{1, 2}; 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）

出处： Zidonghua Xuebao/Acta Automatica Sinica 2022 Vol.Vol.48 No.No.9 P2164-2174

[外文期刊] Disturbance rejection for biped robots during walking and running using control moment gyroscopes EI

作者： Xu, Haochen¹; Yu, Zhangguo^{1, 2}; Chen, Xuechao^{1, 2}; Dong, Chencheng¹; Chen, Huanzhong¹; Huang, Qiang^{1, 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

[外文期刊] Stride Length and Stepping Duration Adjustments Based on Center of Mass Stabilization Control SCIE EI

作者： Zhang, Runming^{1, 2}; Meng, Libo^{1, 2}; Yu, Zhangguo^{1, 2, 3, 4}; Chen, Xuechao^{1, 2, 3, 4}; Liu, Huaxin^{1, 2}; Huang, Qiang^{1, 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

[外文期刊] A guide-weight criterion-based topology optimization method for maximizing the fundamental eigenfrequency of the continuum structure SCIE EI

作者： Liao, Jingping^{1, 2}; Huang, Gao^{1, 2}; Chen, Xuechao^{1, 2}; Yu, Zhangguo^{1, 2}; Huang, Qiang^{1, 2} （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing; 100081, China;²Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing; 100081, China）

出处： Structural and Multidisciplinary Optimization 2021 Vol.64 No.4 P2135-2148

[外文专利] METHOD FOR MONITORING BALANCED STATE OF BIPED ROBOT

发明人： Qiang HUANG;Xuechao CHEN;Zhangguo YU;Tong WU;Mingyue QIN;Qingqing LI;Libo MENG

申请人： BEIJING INSTITUTE OF TECHNOLOGY

申请号： US202016914836

申请日期： 2020.06.29

摘要： The present invention provides a method for monitoring a balanced state of a humanoid robot, comprising: acquiring state data of the robot falling in ...

[外文专利] ROBOT POWER JOINT HAVING TURBULENT FLOW HEAT DISSIPATION STRUCTURE, AND ROBOT

发明人： HUANG, Qiang;ZHANG, Wu;MENG, Fei;MENG, Zhaoping;YU, Zhangguo;QU, Daokui

申请人： BEIJING INSTITUTE OF TECHNOLOGY

申请号： CN2020101109

申请日期： 2020.07.09

摘要： A robot power joint having a turbulent flow heat dissipation structure, and a robot, the power joint comprising a motor, a joint casing body, and an e ...

[外文专利] STEEL BELT TRANSMISSION MECHANISM AND BELT WHEELS THEREOF

发明人： HUANG, Qiang;GAO, Junyao;ZHANG, Chunlei;GAO, Jiancheng;YU, Zhangguo;CHEN, Xuechao;FAN, Xuxiao;ZUO, Yuyu

申请人： BEIJING INSTITUTE OF TECHNOLOGY

申请号： CN2020092712

申请日期： 2020.05.27

摘要： The present invention provides a steel belt transmission mechanism and belt wheels thereof. The steel belt transmission mechanism comprises a driving ...

[中文专利] 一种基于多种群遗传算法的机械结构拓扑优化方法

发明人：廖静平，黄高，黄强，余张国，陈学超

申请人：北京理工大学

申请号： 202011160140.7

申请日期： 2020.10.27

摘要：本发明提供了一种基于多种群遗传算法的机械结构拓扑优化方法，可以实现在体积约束条件下最小化结构柔度的拓扑设计。本发明方法的具体步骤如下：一、划分有限元网格，建立拓扑优化问题的优化模型；二、设定多种群遗传算法的操作参数；三、求解拓扑优化模型，绘制拓扑优化结果。本发明可提高寻找拓扑优化全局最优解的概率，获 ...