关键词： 并联机器人   螺旋理论   动力学建模   动力学性能分析  

摘要： 动力学建模和性能分析是并联机器人设计中的研究重点。以2-UPR-RPU三自由度并联机器人(U:虎克铰,P:移动副,R:转动副)为研究对象,采用螺旋理论对其进行动力学建模与性能分析。基于闭环矢量法建立2-UPR-RPU并联机器人的运动学逆解模型。采用螺旋理论分析2-UPR-RPU并联机器人分支中各个关节和杆件的速度和加速度,结合虚功原理计算2-UPR-RPU并联机器人运动时的驱动力,并通过ADAMS软件进行数值仿真验证。基于动力学模型分析2-UPR-RPU并联机器人的动态可操作度椭球指标,获得2-UPR-RPU并联机器人在不同操作高度下的转动和移动动态性能分布图谱,为机构的样机设计提供参考依据。2-UPR-RPU并联机器人的动力学建模和性能分析为实现机构在实际操作中的高效高精度控制提供了重要的基础保证。

关键词： 阿西莫夫机器人学法则   现代人工智能伦理   人类与机器人的关系  

摘要： 阿西莫夫机器人学法则,属于较为抽象和概括的建构人类与机器人关系的伦理原则,既不是法律原则,也不是法律规范,也不是伦理规范,其可以作为构建现代人工智能发展伦理的基础原则和核心原则。特别是其中的不伤害原则,最为精准地体现了人类对机器人(包括人工智能)的安全焦虑和担忧。《机器人学与人工智能示范公约》的作者们将不伤害原则最为淋漓尽致地也最为全面地体现在公约文本中,但不伤害原则所蕴含的机器人应当以自己的积极行为救助人类(个体或者整体)免遭伤害的内容没有得到体现。服从原则尽管在公约文本中得到体现的条款较少,但是整个公约的意图和构架实现了要求人类直接或者间接地控制机器人的要求。唯有自我保护原则,在公约文本中付之阙如。

关键词： 机器人竞赛   工程学院   郑州大学   育英才   河南理工大学   机器人大赛   立足岗位   河南省大学生  

摘要： 2019年5月,第六届河南省大学生机器人竞赛举行,来自郑州大学、河南理工大学、郑州轻工业大学等全省66所高校的896支代表队、近3000名选手齐聚河南机电职业学院,就机器人格斗、机器人舞蹈、机器人专项赛、机器人创新赛等9大赛项展开了激烈角逐。这是河南机电职业学院智能工程学院继2017年荣获第四届河南省大学生机器人竞赛一等奖、2018年荣获世界机器人大赛冠军之后迎来的又一重要赛事。

关键词： 工业机器人   谐波减速器   摩擦力辨识   支持向量回归  

摘要： 在轻载机器人低速应用场合,利用库仑-黏性摩擦力模型进行关节力矩计算时,机器人关节摩擦力有明显的周期性纹波误差。针对这一问题,提出一种改进的库仑-黏性摩擦力模型,包括由库仑-黏性摩擦力模型表示的稳态摩擦力,以及与位置和速度相关的位置依赖项。对模型进行分步辨识,利用库仑-黏性摩擦力模型的特性,对稳态摩擦力参数进行辨识,通过K-means聚类算法、支持向量回归(SVR)以及最小二乘法求解超定方程组,进一步对模型中的位置依赖项进行辨识,实验结果验证了该模型以及辨识方法的有效性。

关键词： 机器人学  

ISBN: (纸本)9787568062350

摘要： 本书分建模、控制与视觉三个部分系统地阐述了机器人学的基础内容。全书包含十七章。第1章为概述，介绍机器人的内涵、应用以及机器人学的研究方向。建模部分包括第2-7章，系统介绍机器人结构，刚体位姿描述和齐次变换，刚体速度和精力，操作臂运动学；控制部分包括第8-13章，介绍轨迹生成、轨迹控制、力的控制、运动规划、协调控制和自适应控制；视觉部分包括第14-17章，介绍视觉图像处理、视觉运动控制、轮式移动机器人和飞行机器人。

关键词： Knowledge representation   Human-robot interaction   Natural language processing   Assistive robotics  

摘要： Autonomous robots are nowadays successfully used in industrial environments, where tasks follow predetermined plans and the world is a known (and closed) set of objects. The context of social robotics brings new challenges to the robot. First of all, the world is no longer closed. New objects can be introduced at any time, and it is now impossible to build an exaustive list of them nor having a precomputed set of descriptors. Moreover, natural interactions with a human being don't follow any precomputed graph of sequences or grammar. To deal with the complexity of such an open world, a robot can no longer solely rely on its sensors data: a compact representation to comprehend its surrounding is needed. Our approach focuses on task independent environment representation where human-robot interactions are involved. We propose a global architecture bridging the gap between perception and semantic modalities through instances (physical realizations of semantic concepts). In this article, we describe a method for automatic generation of object-related ontology. Based on it, a practical formalization of the ill-defined notion of "context" is discussed. We then tackle human-robot interactions in our system through the description of user request processing. Finally, we illustrate the flow of our model on two showcases which demonstrate the validity of the approach.

摘要： This special issue aims at examining and promoting recent developments in the Assistive/Social Robotics field and future directions including the related challenges and how these can be overcome with particular focus on computational intelligence methodologies. With robots being integrated more and more in our environments and daily activities, the effectiveness of robotics applications has to rely on robots’ ability to perceive, reason, and adapt on-the-fly to the users’ behavior and needs. In particular, the development of personal robots, as assistive technological tools, challenges researchers to develop socially intelligent and adaptive robots that can collaborate with people in real environment.

关键词： Gastroenterology   Surgery  

摘要： The evidence base for robotic gastrointestinal surgery does not yet support its widespread adoption. Here, Kinross et al. discuss this evidence base and the principles on which future gastrointestinal surgical trials should be based, as well as emerging technologies. The global numbers of robotic gastrointestinal surgeries are increasing. However, the evidence base for robotic gastrointestinal surgery does not yet support its widespread adoption or justify its cost. The reasons for its continued popularity are complex, but a notable driver is the push for innovation - robotic surgery is seen as a compelling solution for delivering on the promise of minimally invasive precision surgery - and a changing commercial landscape delivers the promise of increased affordability. Novel systems will leverage the robot as a data-driven platform, integrating advances in imaging, artificial intelligence and machine learning for decision support. However, if this vision is to be realized, lessons must be heeded from current clinical trials and translational strategies, which have failed to demonstrate patient benefit. In this Perspective, we critically appraise current research to define the principles on which the next generation of gastrointestinal robotics trials should be based. We also discuss the emerging commercial landscape and define existing and new technologies.

关键词： Compass-gait biped robot   Impulsive hybrid nonlinear dynamics   Time-t map   Controlled Poincare map   Analytical method   Stabilization   LMI approach  

摘要： The compass-gait biped robot is a two-DoF legged mechanical system that has been known by its passive dynamic walking. This kind of passive biped robot is modeled by an impulsive hybrid nonlinear system that exhibits complex behaviors. This paper is concerned with the stabilization of the passive dynamic walking of the compass-gait biped robot by designing an analytical expression of the controlled Poincare map. The suggested analytical method starts with the time-piecewise linearization of the impulsive system augmented with the controller, around a desired one-periodic passive hybrid limit cycle. By virtue of the first-order Taylor series, we design an explicit expression of the controlled Poincare map. We present also a simplified expression of the controlled Poincare map having a reduced dimension. In order to accomplish our goal concerned with the stabilization of the passive walking dynamics of the compass-gait biped robot, we develop first the linearized Poincare map around the period-1 fixed point of the Poincare map and we adopt a state-feedback control law to stabilize it. Furthermore, in order to enhance the effectiveness and robustness of the stabilization process, we adopt an LMI-based optimization approach by considering the controlled Poincare map to design the feedback gain. In the end of this work, we provide some numerical and graphical simulation results, to show the validity of the designed control law by means of the controlled Poincare map in the stabilization of the passive dynamic walking of the compass-gait biped robot.