HUMANOID

作品数：50被引量：79H指数：4
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相关领域：自动化与计算机技术更多>>
相关作者：伊强陈恳付成龙王志杰黄强更多>>
相关机构：北京理工大学清华大学哈尔滨工业大学北京邮电大学更多>>
相关期刊：《Nano-Micro Letters》《Journal of Software Engineering and Applications》《Chinese Journal of Mechanical Engineering》《China's Tibet》更多>>
相关基金：国家自然科学基金国家高技术研究发展计划中国博士后科学基金北京市自然科学基金更多>>
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Intelligent PID Control Method for Quadrotor UAV with Serial Humanoid Intelligence
《Computer Systems Science & Engineering》2024年第6期1557-1579,共23页Linlin Zhang Lvzhao Bai Jianshu Liang Zhiying Qin Yuejing Zhao 
supported by the Scientific Research Projects of Higher Education Institutions in Hebei Province(Grant No.QN2023188);the project of Hebei University of Science and Technology(Grant No.1200752).
Quadrotor unmanned aerial vehicles(UAVs)are widely used in inspection,agriculture,express delivery,and other fields owing to their low cost and high flexibility.However,the current UAV control system has shortcomings ...
关键词：Quadrotor UAV mathematical modeling PID controller humanoid intelligence 
Bio-inspired Design and Inverse Kinematics Solution of an Omnidirectional Humanoid Robotic Arm with Geometric and Load Capacity Constraints
《Journal of Bionic Engineering》2024年第2期778-802,共25页Zhichao Zhu Zirong Luo Yiming Zhu Tao Jiang Minghai Xia Shanjun Chen Boyu Jin 
funded by the National Natural Science Foundation of China(NO.52175069).
Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design redu...
关键词：Humanoid robotic arm Bio-inspired design Inverse kinematics solution Load capacity constraint Geometric constraint 
Simulating the GRF of Humanoid Robot Vertical Jumping Using a Simplified Model with a Foot Structure for Foot Design
《Journal of Bionic Engineering》2024年第1期112-125,共14页Chuanku Yi Xuechao Chen Yu Zhang Zhangguo Yu Haoxiang Qi Yaliang Liu Qiang Huang 
funded by National Natural Science Foundation of China(No.62073041).
There are many theories and tools for human or robot motion simulation,but most of them require complex calculations.The LNZN model(a simplified model named by the proposers)simplifies the human model and facilitates ...
关键词：LNZN model-GRF simulation Humanoid foot structure Foot parameters 
Humanoid Intelligent Display Platform for Audiovisual Interaction and Sound Identification被引量：2
《Nano-Micro Letters》2023年第12期82-98,共17页Yang Wang Wenli Gao Shuo Yang Qiaolin Chen Chao Ye Hao Wang Qiang Zhang Jing Ren Zhijun Ning Xin Chen Zhengzhong Shao Jian Li Yifan Liu Shengjie Ling 
supported by the National Natural Science Foundation of China (Nos. 21935002, 51973116, 52003156);the starting grant of ShanghaiTech University;the Double First-Class Initiative Fund of ShanghaiTech University
This study proposes a rational strategy for the design,fabrication and system integration of the humanoid intelligent display platform(HIDP)to meet the requirements of highly humanized mechanical properties and intell...
关键词：Silk fibroin Ionoelastomer Luminescent display Machine learning Audiovisual interaction 
Task-space Whole-body Control with Variable Contact Force Control for Position-controlled Humanoid Adaptation to Unknown Disturbance被引量：1
《Journal of Bionic Engineering》2023年第5期2069-2087,共19页Zelin Huang Chencheng Dong Zhangguo Yu Xuechao Chen Fei Meng Qiang Huang 
This work was supported in part by the National Natural Science Foundation of China under Grant 62073041 and 61973039;in part by the Beijing Municipal Science and Technology Project under Grant Z221100000222013;in part by the“111”Project under Grant B08043.
Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body ...
关键词：Whole-body control Contact force Admittance control Humanoid robot 
An Adaptive Hand Exoskeleton for Teleoperation System被引量：1
《Chinese Journal of Mechanical Engineering》2023年第3期123-134,共12页Wei Wei Bangda Zhou Bingfei Fan Mingyu Du Guanjun Bao Shibo Cai 
Supported by National Key Research and Development Program of China(Grant No.2018YFE0125600);Zhejiang Provincial Key Research,Develop-ment Program(Grant No.2021C04015);Natural Science Foundation of Zhejiang(Grant No.LZ23E050005).
Teleoperation can assist people to complete various complex tasks in inaccessible or high-risk environments,in which a wearable hand exoskeleton is one of the key devices.Adequate adaptability would be available to en...
关键词：Hand exoskeleton Humanoid dexterous hand TELEOPERATION Motion capture Force-reproduction 
Design and fabrication of a gecko-inspired surface for improving the grasping ability of a humanoid dexterous hand被引量：1
《Science China(Technological Sciences)》2023年第3期784-792,共9页JIANG ZhiHong SHEN MingHui MA YiFan CHE JiangTao LI Hui 
supported by the National Key Research and Development Program of China(Grant No.2018YFB1305300);the National Natural Science Foundation of China(Grant Nos.61733001,61873039,U1713215,U1913211,and U2013602);the China Postdoctoral Science Foundation(Grant No.2021M690017)。
Many studies have examined the design,fabrication and characteristics of gecko-inspired adhesives,but applied research on gecko-inspired surfaces in humanoid dexterous hands is relatively scarce.Here,a wedged slanted ...
关键词：gecko-inspired surface curved substrate ultraprecision machining FRICTION humanoid dexterous hand 
A modular cable-driven humanoid arm with anti-parallelogram mechanisms and Bowden cables
《Frontiers of Mechanical Engineering》2023年第1期197-215,共19页Bin WANG Tao ZHANG Jiazhen CHEN Wang XU Hongyu WEI Yaowei SONG Yisheng GUAN 
supported by the National Natural Science Foundation of China (Grant Nos.51905105 and 51975126);the Natural Science Foundation of Guangdong Province,China (Grant No.2020A1515011262);the Program for Guangdong Yangfan Innovative and Entrepreneurial Teams,China (Grant No.2017YT05G026);the Young Elite Scientists Sponsorship Program by CAST,China (Grant No.2021QNRC001);the Fund of Science and Technology Innovation and Cultivation for Guangdong Undergraduates,China (Grant No.pdjh2021b0157).
This paper proposes a novel modular cable-driven humanoid arm with anti-parallelogram mechanisms(APMs)and Bowden cables.The lightweight arm realizes the advantage of joint independence and the rational layout of the d...
关键词：modular robotic arm anti-parallelogram mechanism Bowden cable humanoid arm lightweight joint design 
A self-stabilised walking gait for humanoid robots based on the essential model with internal states
《IET Cyber-Systems and Robotics》2022年第4期283-297,共15页Qiuyue Luo Christine Chevallereau Yongsheng Ou Jianxin Pang Victor De-León-Gómez Yannick Aoustin 
National Natural Science Foundation of China,Grant/Award Numbers:62063006,62173319,U1813208;Shenzhen Fundamental Research Program,Grant/Award Number:JCYJ20200109115610172;Guangdong Basic and Applied Basic Research Foundation,Grant/Award Number:2020B1515120054;National Key Research and Development Program of China under Grant,Grant/Award Number:2018AAA0103001。
Walking stability is one of the key issues for humanoid robots.A self-stabilised walking gait for a full dynamic model of humanoid robots is proposed.For simplified models,that is,the linear inverted pendulum model an...
关键词：dynamic stability humanoid and bipedal locomotion passive walking 
Humanoid control of lower limb exoskeleton robot based on human gait data with sliding mode neural network被引量：4
《CAAI Transactions on Intelligence Technology》2022年第4期606-616,共11页Jun Yu Shuaishuai Zhang Aihui Wang Wei Li Zhengxiang Ma Xuebin Yue 
National Natural Science Foundation of China,Grant/Award Numbers:No.62073297,No.U1813201。
Lower limb exoskeleton robots offer an effective treatment for patients with lower extremity dysfunction.In order to improve the rehabilitation training effect based on the human motion mechanism,this paper proposes a...
关键词：ROBOT NEURAL network 
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