A Whole-Body Motion Planning Method for Low-Posture Crawling of Humanoid Robots Based on Key Mode Decomposition and CPG
June 18, 2024·
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1 min read
Qiang Huang
Junhang Lai
Xuechao Chen
Zhangguo Yu
Junyao Gao
Qingqing Li
Abstract
This authorized invention patent concerns whole-body motion planning for low-posture crawling of humanoid robots based on key mode decomposition and central pattern generators.
Type
Publication
Chinese Invention Patent
Patent record
| Field | Official record |
|---|---|
| Chinese title | 基于关键模态分解和CPG的仿人机器人低姿匍匐全身运动规划方法 |
| Patent number | ZL 2022 1 0890454.5 |
| Application date | 27 July 2022 |
| Grant date | 18 June 2024 |
| Grant announcement | CN 115070775 B |
| Certificate number | 7107745 |
| Patentee | Beijing Institute of Technology |
Official inventors: 黄强、赖俊杭、陈学超、余张国、高峻峣、李庆庆。
Authors
Junhang Lai
(he/him)
Ph.D. Candidate in Robotics
Junhang Lai is a Ph.D. candidate at the Institute of Intelligent Robotics, Beijing Institute of Technology. His work focuses on humanoid and legged robot locomotion, motion planning and control, reinforcement learning, simulation-to-real deployment, and embodied intelligence systems.