仓储作者

发明人：高峻峣，张袁熙，陈学超，余张国，杜沂东，黄强

申请人：北京理工大学

申请号： 202310312817.1

申请日期： 2023.03.28

摘要：本发明公开一种基于模仿学习和强化学习的双足机器人运动控制方法，将仿真环境中双足机器人状态观测值、上一周期期望动作和命令编码输入神经网络B，输出并记录下一周期期望动作，并将其拼接成轨迹，计算拼接轨迹与抽取轨迹的容忍值，确定对神经网络B输出进行量化评价的综合奖励是进行增益还是折损，然后用于神经网络B的优 ...

[外文会议论文] Movement Primitives with Explicit Constraints for Imitation Learning of Pick-and-Place Action EI

作者： Dong, Yue¹; Yu, Zhangguo^{1, 2}; Chen, Xuechao^{1, 2}; Wang, Chenzheng¹; Huang, Qiang^{1, 2}

出处： 5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023 Beijing, China 2023

会议录： 526-533

[外文会议论文] Design of an Impact-resistant Elbow Mechanism for Wheel-legged Robot Crawling EI

作者： Ma, Xiaoshuai¹; Gao, Junyao^{1, 2}; Qiu, Xuejian¹; Zhao, Lingxuan¹; Chen, Xuechao^{1, 2}; Yu, Zhangguo^{1, 2}; Huang, Qiang^{1, 2}

出处： 5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023 Beijing, China 2023

会议录： 520-525

[外文会议论文] Human-Riding Inspired Acceleration Control of a Wheel-Legged Humanoid Robot EI

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

[外文期刊] Vertical Jump of a Humanoid Robot With CoP-Guided Angular Momentum Control and Impact Absorption SCIE EI

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 ...

[外文期刊] The Development of a 7-DoF Humanoid Arm for Driving Using a Task-Driven Design Method EI

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

[外文期刊] A Fast Coordinated Motion Planning Method for Dual-Arm Robot Based on Parallel Constrained DDP SCIE

作者： Wang, Yunlai¹;Li, Hui¹;Zhao, Yan¹;Chen, Xuechao¹;Huang, Xiao¹;Jiang, Zhihong¹ （¹Beijing Inst Technol, Adv Innovat Ctr Intelligent Robots & Syst, Sch Mechatron Engn, Key Lab Biomimet Robots & Syst,Chinese Minist Educ, Beijing 100081, Peoples R China.）

出处： IEEE-ASME TRANSACTIONS ON MECHATRONICS 2023

关键词： OPTIMIZATION

摘要： Safe and efficient coordinated motion planning is crucial for the dual-arm robot's manipulation in the constrained environment. This article studies a ...

[外文期刊] Compliant Motion Control of Wheel-Legged Humanoid Robot on Rough Terrains SCIE EI

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 ...

[外文期刊] Swift Running Robot Leg: Mechanism Design and Motion-Guided Optimization

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 ...

[外文期刊] Online Adaptive Motion Generation for Humanoid Locomotion on Non-Flat Terrain via Template Behavior Extension

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 ...