A5069205414- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Soft Robotics and Applications
- Control and Dynamics of Mobile Robots
- Modular Robots and Swarm Intelligence
- Robotic Path Planning Algorithms
- Soil Mechanics and Vehicle Dynamics
- Robot Manipulation and Learning
- Neurogenetic and Muscular Disorders Research
Beijing Institute of Technology
2021-2024
Ministry of Education of the People's Republic of China
2023
Humanoid robots are similar in dimension and degrees of freedom to humans. Compared with other types robots, humanoid more adaptable complex living environment various tools The combination wheeled robot is an effective way increase the moving speed, range motion environmental adaptability which can accelerate application human environments. In this way, use industry services be effectively improved. This article introduces a novel electrically-driven wheel-legged BHR-W 14 freedom. It wheels...
To face the challenge of adapting to complex terrains and environments, we develop a novel wheel-legged robot that can switch motion modes adapt different environments. The perform efficient stable upright balanced locomotion on flat roads flexible crawling in low narrow passages. For passing through passages, propose control strategy methods for transitioning between robots. In practical applications, smooth transition two is challenging. By optimizing gravity work body, optimal trajectory...
Wheeled-legged humanoid robots combine the rough terrain compliance of with high efficiency wheeled robots, enabling robot to achieve flexible and stable locomotion over multiple terrains. However, stability control wheel-legged in dealing terrains unexpected external disturbances remains unsolved. In current investigation, a compliant balance framework (CBCF) is proposed, which can absorb ground shocks, withstand disturbances, remain posture during motion. The CBCF connects legs movement...
Wheel-based robots and leg-based are two major types of ground mobile robots. It is well known that their performance properties complementary. With the combination two, several wheel-legged humanoid (WLR) proposed to overcome obstacles on broken pavement move at high speed flat pavement. However, WLR’s high-speed performance, particularly, during acceleration phase still not good enough compared with traditional wheeled To be detailed, WLR always response slowly get large velocity tracking...
Wheel-legged robots utilize their arms for efficient crawling in low and narrow passages. However, during the transition from standing to motion mode, wheeled-legged robots, which are underactuated systems, susceptible falling potential damage. Additionally, elbow joint requires a high torque robot crawling. Therefore, we designed an mechanism driven by linear actuator BIT- W robot. The requirement of is analyzed constructing model Subsequently, novel optimization method proposed enhance...