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公开(公告)号：US11698636B2
公开(公告)日：2023-07-11
申请号：US17801804
申请日：2020-05-09
Applicant: Beijing Institute of Technology
Inventor： Xuechao Chen , Zhangguo Yu , Qiang Huang , Zhifa Gao , Runming Zhang , Zhenyuan Fu , Junyao Gao
IPC: G05D1/00 , B62D57/032 , G05D1/02
CPC classification number: G05D1/0088 , B62D57/032 , G05D1/027 , G05D1/0212 , G05D1/0246 , G05D1/0257 , G05D2201/0217
Abstract: A foothold position control system and method for a biped robot are provided. 1) A feasible collision-free path is planned by using a path planning algorithm; 2) an available foothold area of a swing foot is determined according to step-length constraints, movement capabilities, foot sizes, and center offsets of a biped robot; and 3) fuzzy processing is performed to determine a specific foothold position of the biped robot. Selection of suitable foothold positions on both sides of a path when a biped robot executes specific walking actions after finishing path planning is realized. The foothold position control system and method has the advantages of being simple and easy to implement, having low computational load and high speed, being capable of exerting extreme movement capabilities of different biped robots, enabling more flexible movement of the biped robots, and so on.
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公开(公告)号：US11673278B2
公开(公告)日：2023-06-13
申请号：US17035231
申请日：2020-09-28
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Wu Zhang , Donglin Qiu , Zhangguo Yu , Xingzhong Liu
CPC classification number: B25J19/0054 , B25J9/102 , B25J17/00
Abstract: The present disclosure provides a robot joint member, a dynamic joint and a robot with a heat dissipation structure. The joint member has a hollow barrel structure disposed to sleeve a heat source component, and a plurality of phase change heat dissipation units; the phase change heat dissipation unit comprises a phase change working medium, a capillary material and a sealed phase change cavity; heat dissipation auxiliary ribs are arranged on a periphery of the barrel wall of the joint member and a side of the phase change heat dissipation unit away from the heat source component; and the heat dissipation auxiliary ribs define a plurality of gas flow channels with cross sections gradually reduced along a gas flow direction. The joint member has can quickly eliminate the heat accumulation of the joint power source, and can keep a compact structure of the dynamic joint of the robot.
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公开(公告)号：US11374466B2
公开(公告)日：2022-06-28
申请号：US17035264
申请日：2020-09-28
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Wu Zhang , Donglin Qiu , Xuechao Chen , Qiang Chen
Abstract: The present disclosure provides a motor stator and a motor. The motor stator comprises a core; windings wound on the core; and a three-dimensional fitted winding inner groove embedding structure which is a cage-type structure having ribs and ends, the ribs being embedded in grooves between the windings, and the ends being connected to the ribs and cover ends of stator windings; both of the rib and the end of the inner groove embedding structure comprise nonmagnetic heat-conducting glue layers and a phase-change material layer interposed as an interlayer between the heat-conducting glue layers. According to the present disclosure, the heat of each part of the motor stator can be quickly conducted, so as to rapidly reduce the temperature, quickly eliminate the instantaneous temperature peak, and improve the temperature gradient equilibrium of each part.
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公开(公告)号：US11364642B2
公开(公告)日：2022-06-21
申请号：US16856010
申请日：2020-04-22
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Junyao Gao , Chunlei Zhang , Weimin Zhang , Xuechao Chen , Dingkui Tian
Abstract: The present disclosure provides a waist joint of humanoid robot and a humanoid robot. The waist joint comprise: tile-shaped structural members, connection members, and substrates. The first end of the first connection member is slidably connected with the first end of the first tile-shaped structural member, and the first end of the second connection member is slidably connected with the second end of the first tile-shaped structural member; one side surface of the first substrate is slidably connected with the first end of the second tile-shaped structural member, and one side surface of the second substrate is slidably connected with the second end of the second tile-shaped structural member; the second end of the first connection member is connected with the third end of the second tile-shaped structural member, and the second end of the second connection member is connected with the fourth end of the second tile-shaped structural member.
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公开(公告)号：US11511431B2
公开(公告)日：2022-11-29
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
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.
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Patent Agency Ranking
16.发明授权公开(公告)号：US11478867B2
公开(公告)日：2022-10-25
申请号：US16889539
申请日：2020-06-01
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Xuxiao Fan , Richeng Huang , Chenglong Tang , Fei Meng
IPC: B25B5/14 , B23F1/06 , B23K26/08 , F16H57/023 , B23K37/047 , B23K26/21 , B23K101/00
Abstract: A machining device for duplex gear of high-precision reducer for robot includes a laser welding device, a laser rotary support, a rotary mechanism and a rotary platform, the rotary mechanism being installed with a reducer body, wherein a center of a central gear is fixedly connected with a rotating shaft; sets of duplex gears are evenly disposed around the central gear; the gear of each set of duplex gear which is connected with the central gear are connected to an output gear ring from outside; a fixed gear ring is disposed above the output gear ring; a rotating frame is disposed at ends, close to the top of the reducer, of rotating shafts of the sets of duplex gears and the rotating shaft of the central gear.
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公开(公告)号：US11364627B2
公开(公告)日：2022-06-21
申请号：US16848634
申请日：2020-04-14
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Chunlei Zhang , Junyao Gao , Zhangguo Yu , Huaxin Liu
Abstract: The present disclosure provides a joint support structure of a robot and a robot having the same. The joint support structure comprises: a drive motor; a reducing transmission mechanism; a motor side casing; a transmission side casing; and a knee joint sleeve disposed on outer peripheries of the motor side casing and of the transmission side casing and connected to the reducing transmission mechanism; the motor side casing has a first annular groove; the transmission side casing has a second annular groove; the knee joint sleeve is provided with an annular connector circumferentially surrounding the motor side casing, and the annular connector has a third annular groove matched with the first annular groove to form a first ball track for accommodating first balls; the knee joint sleeve has a fourth annular groove is matched with the second annular groove to form a second ball track.
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公开(公告)号：US11241787B2
公开(公告)日：2022-02-08
申请号：US16770940
申请日：2018-04-19
Applicant: BEIJING INSTITUTE OF TECHNOLOGY
Inventor： Qing Shi , Chang Li , Mengchao Ma , Mingjie Zou , Shengjie Wang , Qiang Huang , Fukuda Toshio
Abstract: A waist imitating device of robotic rat based on multiple-connecting-rod transmission comprises a pitch parallel connecting rod group (8) and a yaw parallel connecting rod group (2). The pitch parallel connecting rod group (8) and the yaw parallel connecting rod group (2) are respectively connected with a front joint and a back joint of a waist of a robotic rat. Under the drive of a first motor (4), crank connecting rods drive the yaw parallel connecting rod group (2) such that left-right yaw motion of the waist of the robotic rat relative to wheels and forelimbs can be achieved. Under the drive of a second motor (14), crank connecting rods drive the pitch parallel connecting rod group (8) such that upper-down pitch motion of the waist of the robotic rat relative to the wheels and the forelimbs can be achieved.
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公开(公告)号：US11156271B2
公开(公告)日：2021-10-26
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 , F16D23/02 , F16H63/30 , H02K7/08 , H02K7/108 , H02K7/116 , F16H37/04 , F16H37/08 , F16H3/44
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.
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20.发明申请公开(公告)号：US20210192271A1
公开(公告)日：2021-06-24
申请号：US16725357
申请日：2019-12-23
Applicant: Beijing Institute of Technology
Inventor： Qiang Huang , Xiaopeng Chen , Wei Cheng , Zhangguo Yu , Xuechao Chen , Junyao Gao , Yang Xu
Abstract: The present application provides a method and apparatus for pose planar constraining on the basis of planar feature extraction, wherein the method includes: inputting the acquired RGB color image and point cloud image into spatial transformation network to obtain two-dimensional and three-dimensional affine transformation matrixes; extracting the planar features of the transformed two-dimensional affine transformation matrix and three-dimensional affine transformation matrix; inputting the acquired planar features into the decoder and obtain the pixel classification of the planar features; clustering the vectors corresponding to the planar pixels to obtain the segmentation result of the planar sample; using planar fitted by the segmentation result to make planar constraint to the pose calculated by vision algorithm. The application combines RGB-D information to perform plane extraction, and designs a new spatial transformation network to transform two-dimensional color image and three-dimensional point cloud image.
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