公开(公告)号：US12214498B2

公开(公告)日：2025-02-04

申请号：US17908238

申请日：2020-05-09

Applicant: Beijing Institute of Technology

Inventor： Zhangguo Yu ,  Qiang Huang ,  Yaliang Liu ,  Yuyu Zuo ,  Xuechao Chen ,  Gao Huang ,  Han Yu

IPC: B25J9/00 ,  B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A robot joint torque control system and a load compensation method therefor are provided, which relate to the technical field of robot joint motion control. A mathematical model of the robot joint torque control system is established first. Equivalent transformation is performed on a system functional block diagram thereof, and then it can be seen that load parameters have a great influence on joint torque output. A load compensation controller is designed to effectively eliminate the influence of the load parameters on an output torque of the joint. The system is equivalent to an inertial element on the basis of the compensation, and then a PD controller parameter is adjusted to increase an open-loop gain of the system, so as to increase a system bandwidth and increase a response speed of the joint torque control system, thereby improving performance of the joint torque control system.

公开(公告)号：US12078234B2

公开(公告)日：2024-09-03

申请号：US17482183

申请日：2021-09-22

Applicant: Beijing Institute of Technology

Inventor： Qiang Huang ,  Xuxiao Fan ,  Richeng Huang ,  Gao Huang ,  Jingping Liao ,  Zhangguo Yu ,  Xingzhong Liu ,  Yuyu Zuo

IPC: F16H55/06 ,  B22F5/08 ,  B25J9/10 ,  B33Y10/00 ,  B33Y70/00 ,  B33Y80/00

CPC classification number: F16H55/06 ,  B22F5/08 ,  B25J9/102 ,  B33Y10/00 ,  B33Y70/00 ,  B33Y80/00

Abstract: A reducer gear for robot includes an outer contour layer and a reticulated porous base layer cladded by the outer contour layer; the outer contour layer comprises a mounting surface layer, a tooth surface layer, and a connecting surface layer connected between the mounting surface layer and the tooth surface layer and forming a complete gear outer contour together with the mounting surface layer and the tooth surface layer; the mounting surface layer, the tooth surface layer and the connecting surface layer are compact structures; the reticular porous base layer is located in a cavity formed by the outer contour layer, and fiber trabeculae in a porous grid structure are provided in the reticular porous base layer.

公开(公告)号：US11618519B2

公开(公告)日：2023-04-04

申请号：US16885527

申请日：2020-05-28

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qiang Huang ,  Zhangguo Yu ,  Xuechao Chen ,  Chencheng Dong ,  Qingqing Li ,  Libo Meng ,  Gao Huang

IPC: B62D57/02 ,  B25J9/16 ,  B25J13/08 ,  G05D15/01

Abstract: The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness. According to the present invention, the traditional control method of ZMP tracking to realize stable walking of a biped robot and adapting to uneven ground is abandoned; instead, a desired force and moment on a foot enabling stable walking of the robot are directly calculated, and direct control is performed to realize tracking of the force and moment on the foot, so as to carry out stable control in a more essential and easy-to-implement manner, thereby achieving faster control response, stronger capability of adapting to uneven ground, and ideal ZMP tracking effect.