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Patent Agency Ranking
1.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：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：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：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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5.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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