作者： Gao, Zhifa¹;Chen, Xuechao^1,2;Yu, Zhangguo^1,2;Li, Chao¹;Han, Lianqiang¹;Zhang, Runming¹ （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China.）

出处： EXPERT SYSTEMS WITH APPLICATIONS 2024 Vol.238

关键词： HUMANOID ROBOT; ROUGH TERRAIN; WALKING

摘要： In order to give full play to the unique movement capabilities of biped robots that are different from traditional mobile robots, and to improve the a ...

作者： Zhang, Runming¹;Yu, Zhangguo¹;Chen, Xuechao¹;Huang, Qiang¹ （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.）

出处： JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2024 Vol.110 No.1

关键词： PATTERN GENERATION; PREVIEW CONTROL; LOCOMOTION; DYNAMICS

摘要： Controlling a biped robot to walk through rough terrains is crucial to the robot's field application. For a human in the workplace, the ability to fle ...

作者： Zhang, Yuanxi¹;Chen, Xuechao^1,2;Meng, Fei^1,2;Yu, Zhangguo^1,2;Du, Yidong¹;Gao, Junyao^1,2;Huang, Qiang^1,2 （¹Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China.;²Minist Educ, Key Lab Biomimet Robots & Syst, Beijing 100081, Peoples R China.）

出处： JOURNAL OF BIONIC ENGINEERING 2024

摘要： Reinforcement learning (RL) provides much potential for locomotion of legged robot. Due to the gap between simulation and the real world, achieving si ...

发明人： 孙彦博，陈学超，张雨，耿政，徐子极，余张国

申请人： 北京理工大学

申请号： 202320699450.9

申请日期： 2023.04.03

摘要： 本实用新型公开了一种适用于轮腿机器人的高拓展性模块化胸腔，包括电源层、控制层、雷达层，电源层、控制层、雷达层自下往上依次排布，且三层之间可拆卸连接，实现模块化分层设计。电源层用于固定安装电池组件，且电源层与机器人腿部机构的转动连接，增强了该胸腔结构对不同种轮腿机器人的适配性。控制层侧板可以通过法兰连 ...

发明人： 黄强，李国庆，李敬，余张国，张文辉，王艳玲，保罗·达里奥

申请人： 北京理工大学

申请号： 202310987417.0

申请日期： 2023.08.07

摘要： 本发明提供一种驱动检测混合控制的磁控内窥镜机器人系统，能够保证检测过程中驱动和位姿检测性能同时达到预定的最优状态，从而提高磁内窥镜机器人的驱动精度与稳定性以及位姿检测精度与效率。该磁控内窥镜机器人系统的工作原理为：系统开始运行后，基于主端操作器运动、初始位姿检测结果和设定的理想相对位姿，首先控制磁引 ...

作者： Yuan, Zhicheng¹; Chen, Xuechao¹; Wu, Jiahao¹; Ren, Siyu²; Yu, Zhangguo¹

出处： 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023 Sanya, China 2023

会议录： 522-527

作者： Lianqiang HAN¹;，Xuechao CHEN^1,2;，Zhangguo YU^1,2;，Xishuo ZHU³;，Kenji HASHIMOTO^4,5;，Qiang HUANG^1,2; （¹School of Mechatronical Engineering, Beijing Institute of Technology；²Key Laboratory of Biomimetic Robots and Systems, Ministry of Education；³Intelligent Mine Research Institute, China Coal Research Institute Co., Ltd.；⁴Department of Mechanical Engineering Informatics, Meiji University；⁵Humanoid Robotics Institute (HRI), Waseda University）

出处： Science China(Information Sciences) 2023 第66卷 第8期 P263-264

摘要： Dear editor,Biped robots can not only cross complex environment such as ravines and rocks \'(1)\', but can also interact in more diverse activities wi ...

作者： Zelin Huang，Chencheng Dong，Zhangguo Yu，Xuechao Chen，Fei Meng，Qiang Huang （School of Mechatronical Engineering，Beijing Institute of Technology，Beijing 100081，China；School of Mechatronical Engineering，Beijing Institute of Technology，Beijing 100081，China；Key Laboratory of Biomimetic Robots and Systems，Ministry of Education，Beijing 100081，China）

出处： 仿生工程学报(英文版) 2023 第20卷 第5期 P2069-2087

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 simultane-ously optimize desired joint torqu ...

作者： Liu,Yaliang¹²;Chen,Xuechao¹²;Yu,Zhangguo¹³;Yu,Han¹²;Meng,Libo¹²;Yokoi,Hiroshi⁴⁵; （¹School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing, 100081, China;²The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China;³The State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing, 100081, China;⁴Beijing Advanced Innovation Center for Intelligent Robots and Systems, BIT, Beijing, 100081, China;⁵Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, 182-8585, Japan）

出处： ISA Transactions 2023

摘要： The high stiffness actuator (HSA), applied to each joint of an electrical driven humanoid robot, can directly affect the motion performance of the tor ...

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 ...