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62 results about "Android (robot)" patented technology
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An android is a robot or other artificial being designed to resemble a human, and often made from a flesh-like material. Historically, androids were completely within the domain of science fiction and frequently seen in film and television, but recent advances in robot technology now allow the design of functional and realistic humanoid robots.
Flexible three-dimensional force touch sensor of multi-fingered hands of human-simulated robot and three-dimensional force detecting system thereof
ActiveCN102706489AFlexibleBroaden applicationForce measurement using piezo-resistive materialsManipulatorTouch PerceptionQuantum channel
The invention discloses a flexible three-dimensional force touch sensor of multi-fingered hands of a human-simulated robot and a three-dimensional force detecting system, relating to the field of touch sensors of robots. The invention aims at solving the problem that more touch sensors only can acquire normal force but can not detect the normal force and the force simultaneously like the human hands. A sensor body consists of a force-transferring hemispherical layer, a flexible top-level electrode layer, a composite material QTC (Quantum Tunneling Composites) with quantum channel effect and a flexible bottom-level electrode layer which are arranged in sequence from top to bottom; a signal acquisition circuit consists of a mixed-signal array programmable on-chip system and an analog multiplex selection module; the on-chip system comprises a digital logic module, an analog digital conversion module ADC, a digital analog conversion module DAC, an analog signal register I, an analog signal register II, a voltage amplifying circuit and a multi-way switch; and the analog multiplex selection module comprises an analog multi-way switch I and an analog multi-way switch II. The invention is used for the touch sensor for detecting the three-dimensional force of the multi-fingered hands of the human-simulated robot.
Owner:HARBIN INST OF TECH
Six-freedom remote control arm with gravity compensation and length regulation
The present invention relates to data arm mechanism for remote operation job of robot. The data arm mechanism is one mechanical arm with six rotating joints, and each of rotating joints is provided with one potentiometer as angle sensor. The data arm has gravitational compensation mechanism and may be worn by operator for leading motion or may be drawn to required state without being worn, and it may stop in any position without need of auxiliary outside force. The data arm has length regulating mechanism for person of different arm length to wear. The present invention can detect the rotation angles of total six freedoms of the shoulder joint, elbow joint and wrist joint of the operator, and is suitable for control platform of remote operated robot and for being worn onto arm of the operator.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Animation creation program
InactiveUS7106334B2Simpler and easer operationEasy to operateAnimation3D-image renderingHumanoid robot naoAnimation
The present invention provides an animation creation program whereby the posture of a structure comprising a plurality of links can be determined by means of a simpler and easer operation. In accordance with the movement of one link in the structure comprising a plurality of links, the animation creation program of the present invention automatically determines the spatial positions of the other links of the structure so that the structure retains a posture that is as natural as possible. The animation creation program of the present invention uses, for example, inverse kinematics computation that is a computation method for controlling a human-type robot (humanoid) and is based on a matrix known as a Jacobian and the inverse matrix thereof which is known as the Singularity-Robust Inverse (SR-Inverse). By using this computation method in an animation creation program, in the creation of an animation of a structure comprising a plurality of links, it is possible, when moving one link of a structure displayed on a screen, to automatically determine the positions of the other links of the structure so that the posture of the structure as a whole does not become unnatural, and to create an animation of the structure comprising a plurality of links by means of a simpler and easer operation.
Owner:SEGA CORP
Humanoid robot based on pneumatic muscles
InactiveCN107550688AHigh power/mass ratioImprove flexibilityProgramme-controlled manipulatorChiropractic devicesPhysical medicine and rehabilitationKnee Joint
The invention discloses a humanoid robot based on pneumatic muscles. According to the humanoid robot, human muscles are simulated by the pneumatic muscles to drive movement of shoulder joints, elbow joints, wrist joints, waist joints, hip joints, knee joints and ankle joints, so that the humanoid robot has a function of completely simulating human movement. The humanoid robot has the advantages ofcompact structure, cleanness and good anti-explosion performance, and can be applied to scientific research, teaching demonstration and medical diagnosis.
Owner:JIAXING UNIV
Humanoid robot system based on pneumatic muscles and air cylinders
InactiveCN108466256AHigh power/mass ratioImprove flexibilityProgramme-controlled manipulatorVehiclesKnee JointEngineering
The invention discloses a humanoid robot system based on pneumatic muscles and air cylinders. The pneumatic muscles and the air cylinders are used for driving shoulder joints, elbow joints, a waist joint, a hip joint, knee joints and ankle joints of a humanoid robot to move. The robot is mainly composed of a skull, vertebrae, ribs, humeri, radii, fixed parts, thighbones, fibulae, the pneumatic muscles, the air cylinders and feet. The shoulder joints, the elbow joints, the waist joint, the hip joint, the knee joints and the ankle joints respectively have three, three, four, three, three and four degrees of freedom, the whole system has 34 degrees of freedom, the shoulder joints are distributed and driven in a flexible redundant form by nine pneumatic muscles from the vertebrae, and talocrural joints are formed by a parallel mechanism which is supported by the middle air cylinder of three air cylinders uniformly distributed on the periphery, so that the free switching of rotation and movement is realized. The humanoid robot system is driven by the pneumatic muscles and the air cylinders at the same time and has the advantages of compact structure, cleanness and good explosion-proof performance and can be used for exhibition, meeting and teaching demonstration.
Owner:JIAXING UNIV
Humaniod robot based on air cylinder
InactiveCN107717961AIncrease freedomIncrease workspaceProgramme-controlled manipulatorKnee JointEngineering
The invention discloses a humaniod robot based on an air cylinder. The air cylinder is adopted as a driving element for simulating the motion of the waist joint and four limbs of the human body, and the function of completely simulating human motion is achieved. The humaniod robot is mainly composed of the air cylinder, fixing plates, thighbones, fibulas and humeri and has 44 freedom degrees. Thesimulated waist joint has 12 freedom degrees, and the hip joints, knee joints and ankle joints of the simulated lower limbs have three freedom degrees, two freedom degrees and 2 freedom degrees correspondingly. The shoulder joints, elbow joints and wrist joints of simulated upper limbs have three freedom degrees, one freedom degree and four freedom degrees correspondingly, and a freedom degree isadded between the shoulder joints and the elbow joints. The humaniod robot is driven by the air cylinder, has the beneficial effects of having multiple freedom degrees and being good in cleaning and anti-explosion performance, and can be used for the fields of teaching demonstration, exhibitions, guest greeting, work position part grabbing and carrying and the like.
Owner:JIAXING UNIV
Human-computer interaction control system, embedded in Android mobile terminal and FPGA, of hand function rehabilitation robot
ActiveCN103558786AIncrease Active EngagementImprove interactivityInput/output for user-computer interactionProgramme controlHand partsData information
The invention discloses a human-computer interaction control system, embedded in an Android mobile terminal and FPGA, of a hand function rehabilitation robot and relates to the technical field of human-computer interaction control of robots. The human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot solves the problems that an existing hand function rehabilitation robot system is poor in human-computer interaction capacity, poor in openness and not portable. According to the human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot, a data acquisition module receives information of pressure, applied to finger tips of exoskeleton mechanical arms from human finger tips, acquired by a pressure sensor and rotating angle information, acquired by an angle sensor, of the exoskeleton mechanical arms, the data acquisition module then processes the information and transmits the information to an FPGA single-chip system for data processing to obtain data information and then transmits the data information to the Android mobile terminal in a wireless mode for simulation, and the data information is converted into data files by the Android mobile terminal and then is sent to a PC through the Internet. The human-computer interaction control system, embedded in the Android mobile terminal and FPGA, of the hand function rehabilitation robot is suitable for hand rehabilitation training.
Owner:HARBIN INST OF TECH
Humanoid robot system
InactiveCN110682305ALarge adjustment angleRealize the shock absorption effectProgramme-controlled manipulatorPhysical medicine and rehabilitationEngineering
The invention relates to a humanoid robot system. The two sides of a waist joint device are correspondingly provided with an upper limb device, the two sides of the lower end of the waist joint deviceare correspondingly provided with a lower limb device, and the upper limb device, the waist joint device and the lower limb device of the humanoid robot are driven by an air cylinder, a pneumatic muscle and a spring combination to have the function of completely simulating joint motion of a person. The humanoid robot system is composed of the air cylinder, a belt pulley, a connecting piece, a pneumatic muscle and spring combination, a connecting plate, a gas claw and the like. The swing cylinders are combined, the swing cylinders are in transmission combination with the belt, the gas claw drives the upper limb system, the pneumatic muscle and the spring combination body and the linear air cylinder drive the waist joint system, the linear air cylinder, the linear air cylinder and a rod structure to drive the lower limb system. The single upper limb system, the waist joint system and the single lower limb system have 5, 7 and 12 degrees of freedom correspondingly, and the whole robot has 41 degrees of freedom. The humanoid robot system has the characteristics of compact structure, multiple degrees of freedom and good flexibility, and can be used for teaching, demonstration exhibition, obstacle crossing and explosive clearing.
Owner:JIAXING UNIV
Humanoid robot system based on air cylinders
InactiveCN108453705AAchieve movementLarge range of motionProgramme-controlled manipulatorJointsLinear motionKnee Joint
The invention discloses a humanoid robot system based on air cylinders. The air cylinders serve as driving components to simulate motion of trunk joints and arms and legs of a person, and the functionof completely simulating human motion is achieved. The humanoid robot system based on the air cylinders is mainly composed of the linear motion air cylinder, the swing air cylinder, vertebras, fixingplates, thighbones, fibulas, feet, pneumatic grippers and the like and has 38 freedom degrees. Each simulating trunk joint has six freedom degrees; each hip joint, each knee joint and each ankle joint simulating a lower limb each have three freedom degrees; and each shoulder joint, each elbow joint and each wrist joint simulating an upper limb each have four freedom degrees, one freedom degree and two freedom degrees correspondingly. According to the humanoid robot system, the air cylinders are adopted for driving; and the humanoid robot system has the beneficial effects of being clean, compact in structure and good in anti-explosion performance and can be applied to the fields of station part gripping and carrying, exhibition, guest greeting and the like.
Owner:JIAXING UNIV
Linear inverted pendulum model-based robot gait planning method
InactiveCN110286679AImprove stabilityConform to gait processPosition/course control in two dimensionsVehiclesGait planningPlanning approach
The invention discloses a linear inverted pendulum model-based robot gait planning method. The linear inverted pendulum model-based robot gait planning method comprises the following steps of building a linear inverted pendulum model, in which a proportion factor Gamma is introduced on the basis of a dual-connection rod inverted pendulum model (DLIPM) to build a new linear inverted pendulum model; and performing robot gait planning, in which zero-torque point track, trunk mass center motion track and free foot planning track are generated on the basis of the linear inverted pendulum model, and each joint gait motion curve is solved by inverse kinematics. The linear inverted pendulum model built by the method more conforms to actual mass distribution condition of a humanoid robot, the zero-torque point track, the trunk mass center motion track and the feet foot planning track which are generated on the basis of the model and the each solved joint gait motion curve linear are more reasonable and more conform to the gait process of a natural person dual-foot robot, and the gait planning accuracy is high.
Owner:NANJING UNIV OF SCI & TECH
Human type robot kicking action information processing method based on rapid search tree
ActiveCN102375416AReliable executionImprove robustnessSelf-moving toy figuresProgramme control in sequence/logic controllersInformation processingGyroscope
The invention relates to a human type robot kicking action information processing method based on a rapid search tree. The method comprises the following steps: 1) according to information acquired by a joint position sensor, an acceleration sensor and a gyroscope, obtaining current state of the robot through a forward movement model under an uncertain environment, and obtaining the current robotstate through the forward movement model; 2) according to the current state and a termination state of kicking of the robot, computing each required joint movement trail of the robot through the rapid random search tree; 3) performing the smooth processing on the joint movement trail in the step 2) through a movement smooth filter, and modifying through a kinetics filter to obtain a stable final kicking movement trail. Compared with the prior art, the method provided by the invention has the advantages of guaranteeing that the robot can reliably kick the ball under the uncertain environment.
Owner:TONGJI UNIV
Artificial eye for medical simulator
The invention discloses an artificial eye for a medical simulator, wherein drive motors and bracket plates for a winking transmission mechanism and a pupil changing mechanism are fixed on a base. The winking drive motor drives eyelids to wink by a crank rocker transmission mechanism. The pupil drive motor is arranged on the pupil changing mechanism inside an eyeball to achieve pupil change; a pupil size position judging mechanism is connected on the pupil changing mechanism; and a pupil light sensitive mechanism is further connected inside the pupil changing mechanism. The eyeball is connected with the base by the bracket plates. The artificial eye integrates a winking function with a pupil changing function, has a simple and compact structure, and reliable transmission effects; and a control system for controlling the motor to rotate is added on the subsequent part, so as to achieve simulation effects including a function of winking according to different frequencies, and a function of changing the size of the pupil according to interferences of external factors. The artificial eye can be used as an artificial eye for the medical simulator, or an artificial eye for a human-like robot.
Owner:SHANGHAI JIAO TONG UNIV
Unmanned intelligent workshop control system
InactiveCN109911499AFlexible inbound and outbound processRealize multi-layer three-dimensional workshopStorage devicesControl systemModularity
The invention discloses an unmanned intelligent workshop control system. An unmanned intelligent workshop control method comprises a warehousing method and an ex-warehouse method. The unmanned intelligent workshop control system comprises a workshop management system, a workshop control system, an unstacking / stacking robot, a track type goods shelf, shuttle robot tracks, a shuttle robot, a wireless data transmission communication android system and an electrical control system, wherein the track type goods shelf is divided into multiple layers, the end portion of the goods shelf is provided with a freight elevator communicating with each layer of the goods shelf, and a trolley track of the shuttle robot is laid between the goods shelf and the freight elevator. According to the system, theoperation modes such as stacking and unstacking by the industrial robot can be realized, and the functions of personalizing, sorting, distributing goods, taking zero and returning to a warehouse can be realized; and PLC detection and analysis technology is utilized to realize the flexible discharging and warehousing process of the goods through the shuttle robot and the up-down layer change of thefreight elevator, the goods shelf is modularized and assembled, and a multi-layer three-dimensional workshop can be realized.
Owner:苏州一统电子科技有限公司
A humanoid robot system
InactiveCN110682305BLarge adjustment angleRealize the shock absorption effectProgramme-controlled manipulatorEngineeringUpper limb
Owner:JIAXING UNIV
A Humanoid Robot System Based on Pneumatic Muscle and Cylinder
InactiveCN108466256BHigh power/mass ratioImprove flexibilityProgramme-controlled manipulatorVehiclesBone humerusEngineering
The invention discloses a humanoid robot system based on pneumatic muscles and air cylinders. The pneumatic muscles and the air cylinders are used for driving shoulder joints, elbow joints, a waist joint, a hip joint, knee joints and ankle joints of a humanoid robot to move. The robot is mainly composed of a skull, vertebrae, ribs, humeri, radii, fixed parts, thighbones, fibulae, the pneumatic muscles, the air cylinders and feet. The shoulder joints, the elbow joints, the waist joint, the hip joint, the knee joints and the ankle joints respectively have three, three, four, three, three and four degrees of freedom, the whole system has 34 degrees of freedom, the shoulder joints are distributed and driven in a flexible redundant form by nine pneumatic muscles from the vertebrae, and talocrural joints are formed by a parallel mechanism which is supported by the middle air cylinder of three air cylinders uniformly distributed on the periphery, so that the free switching of rotation and movement is realized. The humanoid robot system is driven by the pneumatic muscles and the air cylinders at the same time and has the advantages of compact structure, cleanness and good explosion-proof performance and can be used for exhibition, meeting and teaching demonstration.
Owner:JIAXING UNIV
Two-feet walking robot having hip joint adopted with two-ball shape gear for 7-freedom legs
InactiveCN1833829ADoes not increase the number of jointsIncreased rotational freedomManipulatorRotational axisCoxal joint
A two-foot walking robot with 7-freedom legs and dual-spherical hip joint features that its hip joint with dual-spherical structure has 3 freedoms, its knee joint has one freedom, and its ankle joint has 3 freedoms. As a result, said robot has the waist bending function and said ankle joint has a rotary freedom.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Humanoid robot system based on pneumatic muscle
ActiveCN108544473AHelp to understand the structureHelp to understand the roleProgramme-controlled manipulatorHuman useKnee Joint
The invention discloses a humanoid robot system based on pneumatic muscle. The pneumatic muscle is used for simulating human muscle to drive motions of a shoulder joint, an elbow joint, a wrist joint,a waist joint, a hip joint, a knee joint and an ankle joint, and achieves the function of totally simulating human motions. The humanoid robot mainly consists of a fixed plate, a support piece, thighbone, fibula, feet, humerus, ulna and the pneumatic muscle. The humanoid shoulder joint, elbow joint, wrist joint, waist joint, hip joint, knee joint and ankle joint are respectively provided with three degrees of freedom. The system is driven by the pneumatic muscle, has the characteristics of compact structure, cleanness, explosion prevention, various functions and convenience for equivalent replacement of other demands, and can be used for exhibition, meeting, explosion removal and teaching demonstration.
Owner:JIAXING UNIV
Flexibility touch sensor for flexible finger tips of humanoid robot
InactiveCN101576421AFlexibleHas fitForce measurement using piezo-resistive materialsManipulatorTouch SensesEngineering
The invention discloses a flexibility touch sensor for flexible finger tips of a humanoid robot, which relates to a touch sensor for flexible finger tips of a humanoid robot and aims at solving the problems that a photoelectric touch sensor can not manufacture a touch sensor with overall flexibility; a piezoresistive touch sensor either lacks overall flexibility or has high cost and poor impact resistance. A flexible protective layer and a flexible piezoresistive layer are bonded together; the upper surface and the lower surface of an underlay are carved with a plurality of electrode pairs and a plurality of voltage input and output pins; E-type voltage output electrodes of each E-type voltage output electrode group are connected in parallel and connected with corresponding voltage output pins; gate-type voltage input electrodes in each gate-type voltage input electrode group are connected in parallel and connected with corresponding voltage input pins; a pressure-sensitive conducting rubber body is arranged on the upper surface of the underlay; and the lateral surface of the pressure-sensitive conducting rubber body is coated with bonding glue and bonded with the flexible underlay. The touch sensor has overall flexibility, impact resistance and low processing cost.
Owner:HARBIN INST OF TECH
Humanoid Robot Based on Pneumatic Muscles
InactiveCN107550688BHigh power/mass ratioImprove flexibilityChiropractic devicesManipulatorPhysical medicine and rehabilitationKnee Joint
The invention discloses a humanoid robot based on pneumatic muscles. According to the humanoid robot, human muscles are simulated by the pneumatic muscles to drive movement of shoulder joints, elbow joints, wrist joints, waist joints, hip joints, knee joints and ankle joints, so that the humanoid robot has a function of completely simulating human movement. The humanoid robot has the advantages ofcompact structure, cleanness and good anti-explosion performance, and can be applied to scientific research, teaching demonstration and medical diagnosis.
Owner:JIAXING UNIV
Humanoid robot based on air cylinders
InactiveCN108656100AHelp to understand the structureHelp to understand the roleProgramme-controlled manipulatorJointsThighKnee Joint
The invention discloses a humanoid robot based on air cylinders. The humanoid robot is used for driving the movement of hip joints, knee joints, ankle joints, waist joints, shoulder joints, elbow joints and wrist joints of the robot and has the function of completely simulating the movement of human. The humanoid robot mainly comprises humeri, ulnae, thigh fixing parts, the air cylinders, shank fixing parts, waist joint connecting parts, feet, bevel gears, bearings, connecting plates, supporting plates and connecting shafts, the air cylinders of the lower limb knee joints, the ankle joints, the upper limb elbow joints and the wrist joints are combined in a plurality of modes to drive the joints to achieve the bending and stretching, folding and unfolding and annular rotating functions, thehip joints have the bending and stretching movement functions, the rotating air cylinders drive the bevel gears to mesh so that the shoulder joints can achieve the annular rotating movement function,the air cylinders of the waist joints drive the joints to achieve the front-and-back and left-and-right swinging, bending and stretching, folding and unfolding and annular rotating functions, and meanwhile, upper limbs and lower limbs are driven to swing front and back and swing left and right. The humanoid robot is driven by the air cylinders and has the advantages of being compact in structure,clean, good in anti-explosion performance and capable of being used for teaching, explosive ordnance disposal and exhibition.
Owner:JIAXING UNIV
Reconstruction of human emulated robot working scene based on multiple information integration
InactiveCN1840298AGuaranteed continuityChange the viewing angle at willManipulatorData setSimulation
The invention discloses an anthropomorphic mold robot operation scope, which is the real-time video image associates operator control command and feedback information, wherein the scope can display anthropomorphic robot mode of field work and operation environment mode; the scope can receive location information of anthropomorphic robot work field and sensing information in robot operation; using above information activation anthropomorphic robot and environmental mode motion can display real-time video image; the scope carries out artificial prediction according to operator sending order to create anthropomorphic robot operating data and data set of every mode in ideal condition. the data which using prediction simulation to create drives mode, when the real-time feedback information misses or can't be get.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Motor-driven humanoid robot
InactiveCN107972063AHeavy loadRealize self-lockingProgramme-controlled manipulatorJointsKnee JointEngineering
The invention discloses a motor-driven humanoid robot. According to the motor-driven humanoid robot, shoulder joints, elbow joints, wrist joints, a waist joint, hip joints, knee joints and ankle joints are driven to move by a worm gear motor and a lead screw gear motor, and the function of completely simulating human movement can be achieved; and the shoulder joints of the designed motor-driven humanoid robot have three degrees of freedom, the elbow joints have two degrees of freedom, the wrist joints have two degrees of freedom, the waist joint has three degrees of freedom, the hip joints have three degrees of freedom, the knee joints have two degrees of freedom, the ankle joints have two degrees of freedom, and meanwhile, the cyclovergence movement of ulnae and fibulae can be realized. The motor-driven humanoid robot is driven by the worm gear motor and the lead screw gear motor and has the advantages of being compact in structure, high in bearing capacity, capable of achieving the self-locking function and capable of being used for teaching and demonstration.
Owner:JIAXING UNIV
A Cylinder-Based Humanoid Robot
InactiveCN107717961BIncrease freedomIncrease workspaceProgramme-controlled manipulatorKnee JointHuman motion
The invention discloses a humaniod robot based on an air cylinder. The air cylinder is adopted as a driving element for simulating the motion of the waist joint and four limbs of the human body, and the function of completely simulating human motion is achieved. The humaniod robot is mainly composed of the air cylinder, fixing plates, thighbones, fibulas and humeri and has 44 freedom degrees. Thesimulated waist joint has 12 freedom degrees, and the hip joints, knee joints and ankle joints of the simulated lower limbs have three freedom degrees, two freedom degrees and 2 freedom degrees correspondingly. The shoulder joints, elbow joints and wrist joints of simulated upper limbs have three freedom degrees, one freedom degree and four freedom degrees correspondingly, and a freedom degree isadded between the shoulder joints and the elbow joints. The humaniod robot is driven by the air cylinder, has the beneficial effects of having multiple freedom degrees and being good in cleaning and anti-explosion performance, and can be used for the fields of teaching demonstration, exhibitions, guest greeting, work position part grabbing and carrying and the like.
Owner:JIAXING UNIV
Machine movement control system based on Android platform
InactiveCN103019118ASolve the inconvenience of reprogrammingEasy to controlProgram initiation/switchingProgramme control in sequence/logic controllersRemote controlControl system
The invention relates to a system based on an Android platform, in particular to a machine movement control system based on an Android platform. The machine movement control system comprises an application program control end of an Android intelligent device, a Bluetooth module on the Android intelligent device and a Bluetooth intelligent terminal controller. The system uses the Android device on the market and enables users to set movement commands of a robot simply and fast on a cell phone, and convenient remote control on the robot is achieved, so that the defects that remote controlling through hands is slow in reaction and incoherent can be overcome, and inconvenience for writing programs again can be avoided. By means of the machine movement control system, the users can change the movement commands of the robot flexibly and conveniently according to a field environment so as to enable the robot to adapt to different working situations and bring great convenience for controlling.
Owner:麦活鹏
Method and apparatus for movement planning of apery robot ankle
ActiveCN101408435AReduce reaction forceImprove flexibilityInstruments for road network navigationPosition/course control in two dimensionsSimulationMovement planning
The invention discloses a movement planning method and a device of ankles of a humanoid robot, belonging to the technical field of humanoid robot movement planning. The method comprises: the trail planning of the ankles of non-supporting feet of the humanoid robot is divided into a first period and a second period in the period of odd-leg supporting; setting the stamping height in the first period and the jumping height in the second period as P. The device comprises: a phasing module used for dividing the trail planning of the ankles of non-supporting feet of the humanoid robot into the first period and the second period in the period of odd-leg supporting; a setting module used for setting the stamping height in the first period and the jumping height in the second period as P; wherein, is equal to L plus F, L is a distance between the ankle and feet surface, and F is the ground clearance compensation of ankles, and L is more than 0 and F is more that 0. In the invention, the trail planning of the ankles of non-supporting feet of the humanoid robot is divided into the first period and the second period in the period of odd-leg supporting, and counterforce of the ground to the feet surface of the robot is decreased at the moment when the feet surface of the humanoid robot stamps the ground in the process of action performance, thus increasing the flexibility of stamping the ground of the feet surface of the humanoid robot and improving the stability.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Humanoid robot quick walking tracking obstacle avoidance implement method
InactiveCN110032191ARealize the function of tracking and avoiding obstaclesWalk fastPosition/course control in two dimensionsVehiclesLab color spaceObstacle avoidance
Owner:ZHONGBEI UNIV
Flexible three-dimensional force touch sensor of multi-fingered hands of human-simulated robot and three-dimensional force detecting system thereof
ActiveCN102706489BFlexibleImprove flexibilityForce measurement using piezo-resistive materialsManipulatorHemt circuitsTactile sensor
The invention discloses a flexible three-dimensional force touch sensor of multi-fingered hands of a human-simulated robot and a three-dimensional force detecting system, relating to the field of touch sensors of robots. The invention aims at solving the problem that more touch sensors only can acquire normal force but can not detect the normal force and the force simultaneously like the human hands. A sensor body consists of a force-transferring hemispherical layer, a flexible top-level electrode layer, a composite material QTC (Quantum Tunneling Composites) with quantum channel effect and a flexible bottom-level electrode layer which are arranged in sequence from top to bottom; a signal acquisition circuit consists of a mixed-signal array programmable on-chip system and an analog multiplex selection module; the on-chip system comprises a digital logic module, an analog digital conversion module ADC, a digital analog conversion module DAC, an analog signal register I, an analog signal register II, a voltage amplifying circuit and a multi-way switch; and the analog multiplex selection module comprises an analog multi-way switch I and an analog multi-way switch II. The invention is used for the touch sensor for detecting the three-dimensional force of the multi-fingered hands of the human-simulated robot.
Owner:HARBIN INST OF TECH
Intelligent motor and robot
InactiveCN106564052AReduce in quantityShorten the lengthProgramme-controlled manipulatorElectric machineComputer module
The invention relates to the technical field of robot equipment, in particular to an intelligent motor and a robot. The intelligent motor comprises a direct current motor, a steering gear control unit, a reduction mechanism and an output mechanism. The steering gear control unit comprises a control module and a control circuit connected with the control module. The control circuit is connected with the direct current motor and the reduction mechanism. The reduction mechanism is connected with the output mechanism. The control module is further connected with a sampling and signal interface which is connected with a sensor set and / or a display device through a circuit. The invention further provides the robot. By arranging the sampling and signal interface and arranging the sensor set and the display device directly connected with the sampling and signal interface through the circuit, the number and lengths of cables inside a humanoid robot in the prior art are effectively reduced, and the reliability of the robot is improved.
Owner:SHANGHAI XPARTNER ROBOTICS
Six-freedom remote control arm with gravity compensation and length regulation
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Android and Ubuntu system information transmission method and system, equipment and medium
ActiveCN110971708AFunction increaseImprove interactivitySignal allocationSource Data VerificationSoftware engineering
The invention relates to an Android and Ubuntu system information transmission method and system, equipment and a medium, and the method comprises the steps: setting an Android system and a Ubuntu system as a server side and a client side for each other, and enabling the Android system and the Ubuntu system to be connected in the same local area network; before data is sent, adding an identifier,a data content type list and a data byte number a before the data is sent; adding odd-even check bits and data stop bits to the tails of the datagrams; executing a data sending operation; enabling a receiving end to verify the received data through header information and end parity check bits, if the data is correct, considering data as valid data, and performing the next step of processing; and if the data verification is wrong, abandoning the data, and sending an error mark to the sending end. The information transmission process between the Android system and the Ubuntu system on the robotis achieved, the transmission efficiency is improved, the advantages of all the systems are used for processing corresponding tasks, and the response capacity is improved.
Owner:JILIN UNIV
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