公开(公告)号：US20220258337A1

公开(公告)日：2022-08-18

申请号：US16742542

申请日：2020-01-14

Applicant: Beijing Institute of Technology

Inventor： Qiang HUANG ,  Xiaopeng CHEN ,  Yang XU ,  Zhangguo YU ,  Xuechao CHEN ,  Weimin ZHANG

IPC: B25J9/16 ,  H04N5/232 ,  G05B19/4155

Abstract: 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 includes: establishing a linear model according to a bionic eye robot; establishing a full state feedback control system on the basis of the linear model; in the full state feedback control system, acquiring an angle and an angular acceleration required for a joint in a target tracking process of the bionic eye on the basis of a preset trajectory expectation value and a preset joint angle expectation value; the method further includes: adopting a linear quadratic regulator (LQR) to calculate a parameter K in the full state feedback control system, and minimizing energy consumption by establishing an energy function, so as to optimize the coordinated head-eye motion control of the linear bionic eye. The present application achieves the optimal control of the target tracking.

公开(公告)号：US20210276190A1

公开(公告)日：2021-09-09

申请号：US16914836

申请日：2020-06-29

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qiang HUANG ,  Xuechao CHEN ,  Zhangguo YU ,  Tong WU ,  Mingyue QIN ,  Qingqing LI ,  Libo MENG

IPC: B25J9/16 ,  B25J13/08

Abstract: The present invention provides a method for monitoring a balanced state of a humanoid robot, comprising: acquiring state data of the robot falling in different directions and being stable, forming a support vector machine (SVM) training data set and obtaining, by training, an initial SVM classifier; inputting the state data of the robot to the trained SVM classifier, so that the SVM classifier outputs a classification result; taking statistics on a proportion of cycles judged to have an impending fall in the total number of control cycles within a judgment buffer time after the SVM classifier outputs the classification result, and finally determining a monitoring result of the balanced state of the robot according to the proportion and finally extracting state data of misjudged cycles within the buffer time, adding the state data to the current training data set and updating the SVM classifier, eventually enabling the classifier to achieve the effects of matching motion capabilities of the robot and monitoring the balanced state.

公开(公告)号：US20210009218A1

公开(公告)日：2021-01-14

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 ,  G05D15/01 ,  B25J9/16 ,  B25J13/08

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.

公开(公告)号：US20200378476A1

公开(公告)日：2020-12-03

申请号：US16889295

申请日：2020-06-01

Applicant: Beijing Institute of Technology

Inventor： Qiang HUANG ,  Xuxiao FAN ,  Richeng HUANG ,  Zhangguo YU ,  Qiang CHEN ,  Chenglong TANG

IPC: F16H3/70 ,  B25J9/12 ,  F16H63/30 ,  F16D23/02 ,  H02K7/08 ,  H02K7/108 ,  H02K7/116

Abstract: The present disclosure provides a power unit for a bionic robot, a robot joint and a robot. The power unit comprises: a shell, wherein a stator is embedded in the shell, a rotor is embedded in the stator, a rotor shaft is embedded in the rotor, bearings are disposed between the rotor shaft and the shell, a driving shaft is embedded in a central portion of the rotor shaft, a first driving wheel is disposed on the driving shaft, two transmission shafts are disposed in the rotor shaft, a first driven wheel and second driving wheels are disposed on each of the transmission shafts, the first driven wheel is engaged with the first driving wheel, a sun gear shaft is disposed in the rotor shaft, the sun gear shaft and the driving shaft are coaxially disposed, and a synchronizer and second driven wheels are disposed on the sun gear shaft.