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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：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.
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4.发明授权公开(公告)号：US11182644B2
公开(公告)日：2021-11-23
申请号：US16725357
申请日：2019-12-23
Applicant: Beijing Institute of Technology
Inventor： Xiaopeng Chen , Qiang Huang , Siyuan Gou , 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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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
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.
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Patent Agency Ranking
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
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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公开(公告)号：US11614719B2
公开(公告)日：2023-03-28
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 , G05B13/04 , B25J17/02 , H04N23/695 , H04N23/68
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：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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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：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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