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公开(公告)号：US20210351667A1
公开(公告)日：2021-11-11
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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Patent Agency Ranking
公开(公告)号：US20230158669A1
公开(公告)日：2023-05-25
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: B25J9/16 , B25J13/08 , G05B19/4155
CPC classification number: B25J9/1633 , B25J13/085 , G05B19/4155 , G05B2219/39188
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.
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公开(公告)号：US20210008734A1
公开(公告)日：2021-01-14
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
IPC: B25J17/00
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：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.
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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
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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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
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.
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