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.

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.