Jiangtao Hu

China Electronics Technology Group Corporation

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Xiaofeng Yang

Jiangsu University

Weijun Wang

Oil Crops Research Institute

Wenjie Li

China Academy of Engineering Physics

Zhiyong Jiang

Henan University

Songtao Cai

Hunan Institute of Technology

Yang Feng

Beihang University

Chaoyang Ma

China Electronics Technology Group Corporation

Chunlei Wang

Shaoxing City Women and Children Hospital

Hongrun Lu

China Electronics Technology Group Corporation

Tian Xie

Anhui University of Science and Technology

Cooperative Institutions

China Electronics Technology Group Corporation

China Academy of Engineering Physics

Chinese Academy of Sciences

Shenzhen University

Southwest University

Anhui University of Science and Technology

Oil Crops Research Institute

Chinese Academy of Agricultural Sciences

Guizhou Electric Power Design and Research Institute

Changchun University of Science and Technology

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Inverse Kinematics Algorithm for 7-DOF Manipulator with Offset and its Application

Xiaofeng Yang Zhiyong Jiang Jiangtao Hu Chunlei Wang Yang Feng

Manipulator (device)

Kinematics equations

10.1109/icrca60878.2024.10649197

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Design of A Bipedal Robot via Modular Actuator

2022 International Conference on Advanced Robotics and Mechatronics (ICARM) (2022)

Weijun Wang Songtao Cai Jiangtao Hu Xiaofeng Yang Hongrun Lu

Bipedal robot is a main part of humanoid robot. In general, the greater the number of degrees of freedom of a robot, the more sophisticated electro-mechanical design and the more adaptable ability of a robot. There are many ways to construct a bipedal robot. One of them is to construct it directly with several modular actuators. The advantage of modular design is that it can reduce the complexity of the system. In this paper, a bipedal robot that consists of 12 modular actuators is introduced. Firstly, a modular actuator with a double support structure and a bipedal robot constructed by these modular actuators are introduced. Then, gait planning and simulation of this robot based on zero moment point principle is introduced. Finally, the prototype of this robot is presented and discussed.

Zero moment point

Self-reconfiguring modular robot

Robot calibration

10.1109/icarm54641.2022.9959212

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Development of A Novel Dual-arm Robot via Modular Actuator

Weijun Wang Jiangtao Hu Xiaofeng Yang Tian Xie Chaoyang Ma

In this paper, the development of a novel dual-arm robot is introduced. With the use of modular actuator technology, a dual-arm robot consists of two 7-degree-of-freedom (7-DOF) robotic arms. The robot's high degree of freedom enables it to effectively avoid the joint limitations and singularities of the arm. A solo controller for both arms is proposed and this dual-arm robot has the human sized body and arms. Firstly, a modular actuator is presented and a dual-arm robot is introduced. Then, the kinematic and dynamic analysis for this dual-arm robot is presented. Finally, the prototype of this dual-arm robot is presented and discussed.

Arm solution

Robot end effector

Articulated robot

Cartesian coordinate robot

Bang-bang robot

10.1109/icarm52023.2021.9536159

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Citations (3)