发明人： Qiang HUANG;Xiaopeng CHEN;Yang XU;Zhangguo YU;Xuechao CHEN;Weimin ZHANG

申请人： Beijing Institute of Technology

申请号： US202016742542

申请日期： 2020.01.14

摘要： The present application discloses a wide-field-of-view anti-shake high-dynamic bionic eye. A trajectory tracking method based on a bionic eye robot in ...

作者： 周宇航 （导师：陈学超）

学位名称： 硕士

出处： 北京理工大学机电学院 2016

关键词： 仿人机器人；摔倒检测；运动规划；柔顺控制

摘要： 仿人机器人在行走和作业过程中往往会因自身或者环境因素摔倒，机器人摔倒可能导致其自身部件损坏，无法完成任务。目前国内外已经开展了仿人机器人摔倒保护的研究，其中大部分采用仿生手段对机器人进行摔倒运动规划。然而，对于仿人机器人摔倒利用手臂支撑减小损伤的情况鲜有研究。本文开展关于仿人机器人前摔保护的研究，利 ...

作者： Chuanku Yi¹;Xuechao Chen ^1,2;Yu Zhang¹;Zhangguo Yu^1,2;Haoxiang Qi¹;Yaliang Liu¹; & …Qiang Huang^1,2; （¹School of Mechatronical Engineering, Beijing Institute of Technology, Zizhuyaun, Haidian, Beijing, 100081, China;²Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Zizhuyuan, Haidian, Beijing, 100081, China）

出处： Journal of Bionic Engineering

关键词： LNZN model;GRF simulation;Humanoid foot structure;Foot parameters

摘要： There are many theories and tools for human or robot motion simulation, but most of them require complex calculations. The LNZN model (a simplified mo ...

作者： Zelin Huang;Chencheng Dong;Zhangguo Yu;Xuechao Chen;Fei Meng & Qiang Huang （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： Journal of Bionic Engineering

关键词： Whole-body control;Contact force;Admittance control;Humanoid robot

摘要： Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots, since it can simultaneously optimize desired joint torqu ...