Patents by Inventor Chencheng DONG

Chencheng DONG has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Method of tracking control for foot force and moment of biped robot
    Patent number: 11618519
    Abstract: The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness.
    Type: Grant
    Filed: May 28, 2020
    Date of Patent: April 4, 2023
    Assignee: BEIJING INSTITUTE OF TECHNOLOGY
    Inventors: Qiang Huang, Zhangguo Yu, Xuechao Chen, Chencheng Dong, Qingqing Li, Libo Meng, Gao Huang
  • METHOD OF TRACKING CONTROL FOR FOOT FORCE AND MOMENT OF BIPED ROBOT
    Publication number: 20210009218
    Abstract: The present invention discloses a method of tracking control for a foot force and moment of a biped robot. According to the method, a double-spring damping model is designed, and a force tracking controller is designed by using an LQR optimization method, so as to realize tracking of the foot force and moment of the biped robot. Further, a desired force on a foot and a desired moment on the foot are calculated through a planned ZMP distribution method, thereby eventually achieving better ZMP tracking of the biped robot and adapting to ground of certain unevenness.
    Type: Application
    Filed: May 28, 2020
    Publication date: January 14, 2021
    Applicant: BEIJING INSTITUTE OF TECHNOLOGY
    Inventors: Qiang HUANG, Zhangguo YU, Xuechao CHEN, Chencheng DONG, Qingqing LI, Libo MENG, Gao HUANG