公开(公告)号：US20240335960A1

公开(公告)日：2024-10-10

申请号：US18222376

申请日：2023-07-14

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qing SHI ,  Ruochao WANG ,  Hang XIAO ,  Rongjie DU ,  Xiaolong QUAN ,  Junhui GAO

IPC: B25J17/00 ,  B25J9/00 ,  B62D21/18 ,  B62D57/032

CPC classification number: B25J17/00 ,  B25J9/0009 ,  B62D21/18 ,  B62D57/032

Abstract: Provided are a quadruped robot and a spine-leg-foot coupling driving method, relating to the technical field of bionic robots. The quadruped robot includes an active spine, and two trunks. The two trunks are a fore trunk and a hind trunk, respectively. The two trunks can pitch and can be telescopically arranged at both ends of the active spine in a front-rear direction. The active spine can drive the trunks to pitch, extend and retract. In accordance with the spine-leg-foot coupling driving method, the pitch and retraction state of the spine and the energy storage and release state of legs during the running of a quadruped are stimulated by controlling the swing state of a swing output member, the extension and retraction state of the trunk and the energy storage and release state of an elastic leg.

公开(公告)号：US20220143835A1

公开(公告)日：2022-05-12

申请号：US17153140

申请日：2021-01-20

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Qing SHI ,  Guanglu JIA ,  Tao SUN ,  Chen CHEN ,  Yi XU ,  Shurui YAN ,  Qiang HUANG

IPC: B25J9/16 ,  G06T1/00 ,  H04N7/18 ,  G06T7/593 ,  B25J13/08 ,  B25J13/00

Abstract: The present disclosure provides a visual-tactile perception apparatus and a small-sized robot. The apparatus includes a visual perception module, a tactile perception module, a control module, and a signal transmission module. The signal transmission module is separately connected to the visual perception module, the tactile perception module, and the control module. The visual perception module is configured to obtain image information of a surrounding environment of the apparatus; the tactile perception module is configured to obtain tactile information of the surrounding environment of the apparatus; the signal transmission module is configured to transmit the image information and the tactile information to the control module; and the control module is configured to generate a control instruction based on the image information and the tactile information, and transmit the control instruction.

公开(公告)号：US20230017118A1

公开(公告)日：2023-01-19

申请号：US17487055

申请日：2021-09-28

Applicant: Beijing Institute of Technology

Inventor： Qing SHI ,  Yi XU ,  Ruochao WANG ,  Guanglu JIA ,  Tao SUN

IPC: B64C39/00 ,  B64C39/08 ,  B64C25/62 ,  B64D27/24 ,  B64C11/00

Abstract: An insect-like jumping-flying robot is provided, which includes a flying module, a driving module and biomimetic bouncing legs. The flying module provides flying power via a propeller and a miniature model airplane motor, and front wings and rear wings provide lift, and moment required for attitude change. The driving module provides power with high power density via a brushless motor and is provided with two stages of deceleration to amplify the torque provided by the brushless motor. The first stage of deceleration is performed by a synchronous wheel set, and the second stage of deceleration is performed by a gear set. A driving push rod is used to transmit the power provided by the brushless motor to the biomimetic bouncing legs.

公开(公告)号：US20210187730A1

公开(公告)日：2021-06-24

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

IPC: B25J9/10 ,  B25J17/00

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.