作者： Weilong Zuo^{1   2};Junyao Gao^{1   2};Jingwei Cao^{1   2};Xilong Xin^{1   2};Mingyue Jin^{1   2};Xuechao Chen^{1   2}; （¹ School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China. ² Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing 100081, China.）

出处： Biomimetics (Basel, Switzerland) 2023 Vol.8 No.6 P460

关键词： control;fall;humanoid robot;trajectory optimization.

摘要： When humanoid robots work in human environments, falls are inevitable due to the complexity of such environments. Current research on humanoid robot f ...

作者： Zhaoyang Cai¹;Zhangguo Yu¹;CA1;Xuechao Chen¹;Qiang Huang^1,2;Abderrahmane Kheddar^3,4; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;²Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, China;³CNRS-AIST Joint Robotics Laboaratory, IRL3218, Tsukuba, Japan;⁴CNRS-University of Montpellier LIRMM, UMR5506, Montpellier, France）

出处： Mechatronics 2023 Vol.95 P103061

摘要： Efficient humanoid robots must have the ability to protect themselves during unexpected falls. In this paper, a self-protect falling trajectory librar ...

作者： Cai, Zhaoyang¹; Zhu, Xin¹; Gergondet, Pierre²; Chen, Xuechao¹; Yu, Zhangguo¹ （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;²CNRS-AIST Joint Robotics Laboratory, IRL, Tsukuba, Japan）

出处： Cyborg and Bionic Systems 2023

作者： Zhifa Gao;Xuechao Chen;Zhangguo Yu;Lianqiang Han;Jintao Zhang;Gao Huang （¹ School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China. ² Faculty of Information Technology, Beijing University of Technology, 100 Pingleyuan, Chaoyang District, Beijing 100124, China.）

出处： Biomimetics (Basel, Switzerland) 2023 Vol.8 No.1 P31

关键词： angular momentum;biped robot;joint torque control.

摘要： Biped robots swing their legs alternately to achieve highly dynamic walking, which is the basic ability required for them to perform tasks. However, s ...

作者： Xiang Meng;Zhangguo Yu;Xuechao Chen;Zelin Huang;Chencheng Dong;Fei Meng （¹ School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China. ² Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China. ³ Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing 100081, China.）

出处： Biomimetics (Basel, Switzerland) 2023 Vol.8 No.1 P114

关键词： bipedal robots;online running-gait generation;speed tracking;state switching.

摘要： Smooth state switching and accurate speed tracking are important for the stability and reactivity of bipedal robots when running. However, previous st ...

作者： Yue Dong¹;Zhangguo Yu¹;CA1;Xuechao Chen¹;CA2;Fei Meng¹;Xin Zhu¹;Pierre Gergondet²;Qiang Huang¹; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;²CNRS-AIST Joint Robotics Laboratory, IRL, Tsukuba, Japan）

出处： Journal of Intelligent & Robotic Systems 2023 Vol.109 No.1

关键词： Manipulability index;Inverse kinematics;Parameterization of redundancy;Redundant manipulator

摘要： Real-time manipulability maximization is a common sub-task for the a redundant manipulator. However, due to the heavy computational burden and non-con ...

发明人： 张锦涛，陈学超，赵凌萱，韩连强，余张国，黄强

申请人： 北京理工大学

申请号： 202311078462.0

申请日期： 2023.08.25

摘要： 本发明公开了触地感知变阻尼缓冲足部装置，包括主体支撑件和柔性足底，主体支撑件的两端分别设有滑道，每个滑道内可滑动装有滑块部件，滑道的顶部固定连接弹簧盖；滑块部件包括外滑块，外滑块可滑动套装在滑道内，外滑块的上部外壁与滑道内壁接触，且在外滑块接触处的外壁上沿周向设有励磁线圈和磁流变液；在外滑块中间位置 ...

发明人： 陈学超，仪传库，余张国，孟非，石青，黄强

申请人： 北京理工大学

申请号： 202310024381.6

申请日期： 2023.01.09

摘要： 本发明公开了一种机器人自适应地形的足部结构，包括自适应模块、锁死模块、支撑模块和滑块模块；自适应模块的支撑柱上端穿过足板主体与锁死模块的夹持器配合，两夹持器尾端通过弹性件套接在一起；支撑模块固定在足板主体上，且设有滑道，滑块模块位于支撑模块上方，滑块位于滑道中，能够沿滑道水平移动；滑块与其最近的两夹 ...

发明人： 余张国，张筱晨，陈学超，任思宇，张锦埭，孟立波，黄强

申请人： 北京理工大学

申请号： 202310540338.5

申请日期： 2023.05.15

摘要： 本发明公开了一种用于轮式双足机器人动态行进的分层优化控制方法，具体为：由目标速度和当前速度、目标位置和当前位置，通过模型预测获得最优的参考前向位置 最优的参考前向速度 最优的参考前向加速度 和最优的未来轨迹γ^*；利用γ^*及一阶小车倒立摆模型的内动态，通过非 ...

发明人： 董宸呈，陈学超，余张国，陈焕钟，李庆庆，黄强

申请人： 北京理工大学

申请号： 202310436967.3

申请日期： 2023.04.21

摘要： 本发明公开了一种主被动结合的双足机器人在线落脚点生成与调节方法，包括：确定规划零力矩点轨迹 和规划质心轨迹 设计虚拟倒立摆质心跟踪控制器，控制期望零力矩点轨迹 使机器人的期望质心轨迹 跟踪 根据实际零力矩点位置 和 计算外部作用力，并将其作用在虚拟倒立摆上进行状态更新；根据 估计未来两步内的估计质心 ...