作者： Han, Lianqiang¹; Chen, Xuechao¹; Yu, Zhangguo¹; Gao, Zhifa¹; Huang, Gao²; Zhang, Jintao¹; Hashimoto, Kenji³; Huang, Qiang¹ （¹School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China;²Faculty of Information Technology, Beijing University of Technology, Beijing, China;³Department of Mechanical Engineering Informatics, Meiji University/Humanoid Robotics Institute (HRI), Waseda University, Kanagawa, Japan）

出处： Robotica 2023 Vol.Vol.41 No.No.2 P789-805

作者： Han, Lianqiang¹; Chen, Xuechao^{1, 2}; Yu, Zhangguo^{1, 2}; Zhu, Xishuo³; Hashimoto, Kenji^{4, 5}; 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;³Intelligent Mine Research Institute, China Coal Research Institute Co., Ltd., Beijing; 100013, China;⁴Department of Mechanical Engineering Informatics, Meiji University, Tokyo, Kanagawa; 214-8571, Japan;⁵Humanoid Robotics Institute (HRI), Waseda University, Tokyo; 162-8480, Japan）

出处： Science China Information Sciences 2023 Vol.66 No.8

发明人： 陈学超，袁志诚，吴嘉豪，余张国，孟非

申请人： 北京理工大学

申请号： 202211395760.8

申请日期： 2022.11.09

摘要： 本发明公开了一种基于偏心结构与转轮驱动的球形机器人及其控制方法，球形机器人包括转轮机构和摆锤结构，转轮机构安装在内部结构支撑架上，摆锤结构挂接在两内部结构支撑架上，能够绕内部结构支撑架进行转动；控制方法具体为：通过机器人的实际运动状态与预期参考轨迹，得到修正广义加速度，修正广义加速度与机器人的实际运 ...

发明人： 陈学超，张雨，何鹏发，芮思语，刘嘉仪，张轩宇，余张国

申请人： 北京理工大学

申请号： 202210403070.6

申请日期： 2022.04.18

摘要： 本发明公开了一种可自动包络夹紧和回弹的多爪夹持器，夹持爪的第三关节末端为半齿轮结构，夹持物体时，第三关节在圆柱形中轴齿条的作用下进行绕轴旋转，夹持爪的第二关节上端在通过连杆与圆柱形中轴齿条向连接，夹持过程中圆柱形中轴齿条的平移运动带动第二关节的绕轴旋转，第二关节和第三关节的绕轴旋转实现夹持器大角度大 ...

作者： Du, Jiaheng¹; Chen, Xuechao¹; Han, Lianqiang¹; Li, Qingqing¹; Gao, Zhifa¹; Yu, Zhangguo¹

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： 75-80

作者： Xuejian Qiu;Zhangguo Yu;Libo Meng;Xuechao Chen;Lingxuan Zhao;Gao Huang;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 Faculty of Information Technology, Beijing University of Technology, Beijing 100124, China.）

出处： Micromachines 2022 Vol.13 No.8 P1252

关键词： mode transition;quadratic programming;two locomotion modes;wheel-legged robot.

摘要： To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes to adapt to ...

作者： Fei Meng;Qiang Huang;Zhangguo Yu;Xuechao Chen;Xuxiao Fan;Wu Zhang;Aiguo Ming （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;Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China;.;³School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China;.;⁴Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing 100081, China;⁵Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, Tokyo 182-8585, Japan）

出处： Engineering 2022 Vol.12 P39-47

关键词： Electric actuator;Variable transmission;Integral torque control;Legged robot

摘要： Unmanned systems such as legged robots require fast-motion responses for operation in complex environments. These systems therefore require explosive ...

作者： Zhaoyang Cai¹;Xuechao Chen¹;Qingqing Li¹;Huaxin Liu¹;Zhangguo Yu¹; （¹ School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China.）

出处： Biomimetics (Basel, Switzerland) 2022 Vol.7 No.4 P235

关键词： bionic;humanoid robot;mechanism design.

摘要： The foot is an important part of humanoid robot locomotion that can help with shock absorption while making contact with the ground. The mechanism of ...

发明人： 黄强，仪传库，陈学超，余张国，李龙，石青

申请人： 北京理工大学

申请号： 202210490075.7

申请日期： 2022.05.07

摘要： 本发明提供一种小型可调式大阻尼直线阻尼器，包括底部支架、阻尼器外壳、阻尼器活塞模块、阻尼器端盖模块、顶部支架和弹簧支撑模块，阻尼器活塞模块包括活塞杆、流速阀、单向阀和活塞片，活塞片固定在活塞杆上，且活塞片下方固定流速阀，流速阀上加工有孔径不同的流速孔；活塞片上加工有流量孔和单向孔，流量孔靠近活塞杆、 ...

发明人： 余张国，赵凌萱，陈学超，邱雪健，张筱晨，黄强

申请人： 北京理工大学

申请号： 202210646153.8

申请日期： 2022.06.09

摘要： 本发明提供了一种轮足转换机构及其控制方法，包括横滚支架、外转子电机、横滚电机和直流电机，横滚支架一侧与横滚电机的外壳固连，横滚电机的输出轴与交叉轴支架的一端固连，交叉轴支架的另一端与横滚支架转动连接，交叉轴支架上固连外转子电机，外转子电机的外壳与丝杠/蜗轮蜗杆结构转动连接，丝杠/蜗轮蜗杆结构固连脚掌 ...