关键词： Assistive robots   3D object perception   Open-ended learning   Interactive learning   Object manipulation  

摘要： This paper presents an artificial cognitive system tightly integrating object perception and manipulation for assistive robotics. This is necessary for assistive robots, not only to perform manipulation tasks in a reasonable amount of time and in an appropriate manner, but also to robustly adapt to new environments by handling new objects. In particular, this system includes perception capabilities that allow robots to incrementally learn object categories from the set of accumulated experiences and reason about how to perform complex tasks. To achieve these goals, it is critical to detect, track and recognize objects in the environment as well as to conceptualize experiences and learn novel object categories in an open-ended manner, based on human-robot interaction. Interaction capabilities were developed to enable human users to teach new object categories and instruct the robot to perform complex tasks. A naive Bayes learning approach with a Bag-of-Words object representation are used to acquire and refine object category models. Perceptual memory is used to store object experiences, feature dictionary and object category models. Working memory is employed to support communication purposes between the different modules of the architecture. A reactive planning approach is used to carry out complex tasks. To examine the performance of the proposed architecture, a quantitative evaluation and a qualitative analysis are carried out. Experimental results show that the proposed system is able to interact with human users, learn new object categories over time, as well as perform complex tasks. (c) 2018 Elsevier B.V. All rights reserved.

关键词： 卫生陶瓷   机器人   动力学   仿真  

摘要： 为了提高卫生陶瓷机器人系统的稳定性,采用牛顿-欧拉方法建立了6自由度施釉机器人动力学模型,研究了终端效应器载荷变化对各关节力矩的影响。仿真结果表明:终端效应器载荷大小和方向的变化,对腰部、肩部和肘部3个关节的力矩影响很小,其力矩主要由机器人本身结构决定;终端效应器载荷大小和方向的变化对腕部3个关节的力矩影响较大,当载荷方向与操作臂重力方向相反时关节力矩变小。

关键词： 并联机器人   弹性动力学   固有频率   冗余驱动  

摘要： 建立了球面2-DOF冗余驱动并联机器人弹性动力学模型。将机器人系统的6个空间弯杆划分为6个子结构,考虑空间弯杆的弯曲、拉伸和扭转变形,基于有限元法求出了各子结构的弹性动力学模型;根据转动副的约束特点以及各分支与输出轴的变形协调约束关系,将子结构组装成3个分支并进行装配,得到系统的弹性动力学模型;将理论计算与有限元仿真得到的机构在初始位置时的固有频率进行对比,验证了系统弹性动力学模型的正确性。通过对比分析球面2-DOF非冗余与冗余驱动并联机器人输出端的动态响应,验证了冗余驱动的引入可以明显减小机器人输出端的最大弹性位移。研究结果为含有空间弯杆并联机器人的结构优化设计以及振动分析提供了理论依据。

关键词： 中小学生   机器人竞赛   玉林市   电脑   比赛项目   机器人足球   玉林城区   电化教育  

摘要： 本刊讯近日,由玉林市教育局主办、玉林市电化教育站承办的该市首届中小学生电脑机器人竞赛在玉州区旺瑶小学举行.来自玉林城区及县（市、区）9所中小学的390多名学生参加此次比赛.比赛共设超级轨道、机器人足球、3D建模、无人机操作等10个比赛项目.此次比赛,旨在进一步激发学生对科学技术的兴趣,促使他们全面提升信息素养与综合能力.

关键词： 机器人   主持人   栏目   评测   学习   新兴学科   常春藤   头文件  

摘要： 机器人教育,可谓是一枝常春藤,不仅历久弥新,而且自身的成长性更是让同处新课程边缘的诸多新兴学科望尘莫及.甚至有人笑称,不少红头文件标榜的新加课程都早已成为明日黄花,只有机器人教育呈现出校内校外遍地花开、受众人群不断壮大的可喜局面.

关键词： 冗余驱动   并联机器人   动力学建模   驱动力优化  

摘要： 针对并联机器人系统动力学分析建模的复杂性,采取拉格朗日—达朗伯法对二自由度冗余驱动机器人进行动力学分析建模,不仅可以直接求得逆动力学方程,而且与单独采用拉格朗日法所建立的动力学模型相比具有一致性,并提出了二自由度冗余驱动并联机器人的驱动力优化方法,解决了驱动力分配问题,为改善并联机器人动力学性能提供了理论依据。

关键词： quadruped   spine   optimization   gaits   energy   legged robots  

摘要： Inspired by the locomotive advantages that an articulated spine enables in quadrupedal animals, we explore and quantify the energetic effect that an articulated spine has in legged robots. We compare two model instances of a conceptual planar quadruped: one with a traditional rigid main body and one with an articulated main body with an actuated spinal joint. Both models feature four distinct legs, series elastic actuation, distributed mass in all body segments, and limits on actuator torque and speed. Using optimal control to find the energetically optimal joint trajectories, actuator inputs, and footfall timing, we examine and compare the positive mechanical work cost of transport of both models across multiple gaits and speeds. Our results show that an articulated spine increases the maximum possible speed and improves the locomotor economy at higher velocities, especially for asymmetrical gaits. The driving factors for these improvements are the same mechanistic effects that facilitate asymmetrical gaits in nature: improved leg recirculation, elastic energy storage in the spine, and enlarged stride lengths.

关键词： positional entropy   protean behavior   mobile robot   adversarial patrolling   chaotic dynamics   Arnold's cat map  

摘要： Living organisms have developed and optimized ingenious defense strategies based on positional entropy. One of the most significant examples in this respect is known as protean behavior, where a prey animal under threat performs unpredictable zig-zag movements in order to confuse, delay or escape the predator. This kind of defensive behavior can inspire efficient strategies for patrolling robots evolving in the presence of adversaries. The main goal of our proposed bioinspired method is to implement the protean behavior by altering the reference path of the robot with sudden and erratic direction changes without endangering the robot's overall mission. By this, a foe intending to target and destroy the mobile robot from a distance has less time for acquiring and retaining the proper sight alignment. The method uses the chaotic dynamics of the 2D Arnold's cat map as a primary source of positional entropy and transfers this feature to every reference path segment using the kinematic relative motion concept. The effectiveness of this novel biologically inspired method is validated through extensive and realistic simulation case studies.

关键词： Soft robotics   Legged locomotion   Materials processing   Optical waveguides   Optical sensors   Biomedical materials  

摘要： When soft robotics first emerged, it was defined (as breakthroughs often are) by what it was that its traditional counterparts were not, i.e., soft. A decade in, the nomenclature remains apt. The pliant materials used in soft robotics are often both a defining trait and a source of advantage. Soft robots continue to make headlines with their ability to squeeze, octopus-like, through narrow crevices; change shape; and survive impacts that would crush a traditional rigid robot. They distinguish themselves from their hard counterparts with their damage resilience, complex movements, and suitability for use with the human body.

摘要： One of the first surgical specialties to adopt robotic procedures and one that continues to innovate