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

关键词： Global safety standards   robots  

摘要： The article focuses on industrial robot safety standards which remain in development to help minimize risk for those implementing, integrating, using, and maintaining robotics. It mentions the 10218 standard which is undergoing a periodic updating and the update is scheduled for publication in 2021. A few robot safety standards efforts for robot integrators, manufacturers, and end users are emphasized.

关键词： Block matching   Differential evolution   Harmony search   Robotics   Motion estimation   Video compression  

摘要： Block Matching is one of the most efficient techniques for motion estimation for video sequences. Metaheuristic algorithms have been used effectively for motion estimation. In this paper, we propose two hybrid algorithms: Artificial Bee Colony with Differential Evolution and Harmony Search with Differential Evolution based motion estimation algorithms. Extensive experiments are conducted using four standard video sequences. The video sequences utilized for experimentation have all essential features such as different formats, resolutions and number of frames which are generally required in input video sequences. We compare the performance of the proposed algorithms with other algorithms considering various parameters such as Structural Similarity, Peak Signal to Noise Ratio, Average Number of Search Points etc. The comparative results demonstrate that the proposed algorithms outperformed other algorithms.

关键词： Lean management   Robotics -- Competitions   Robot design & construction  

摘要： A personal narrative is presented which explores the author's experience of using lean management strategies in designing and building a robot with his team STEMpunk to compete in the global FIRST Robotics competition in 2018.

摘要： Twenty years after it was introduced, robotic surgery has become more commonplace in urology - we examine its current uses and controversies