关键词： 双臂机器人   动力学   伺服系统   电机控制  

摘要： 针对关节一体化双臂机器人手臂高速运动下稳定抓取和电机控制问题,文章研究了其动力学建模与伺服系统控制算法。首先,对其双臂机械结构进行了分析,总结了各个关节对机器人末端位姿的影响;简化后的动力学方程更利于实现,有效加快计算速度。其次针对简化后的模型参数采用最小二乘法辨识,最后通过仿真和系统实验,验证动力学计算结果的正确性。再次由机器人动力学和电机动力学建立关节转矩模型进行关节转矩力控制;最后讨论了交流永磁同步电机的建模和控制问题。经过验证简化后的模型一方面等效于直流电机便于设计控制器,另一方面可用于机器人关节转矩控制。

关键词： Answer set programming   Cognitive robotics   Planning  

摘要： We discuss applications of ASP in robotic planning, considering (1) full observability and complete knowledge and (2) with incomplete knowledge and partial observability. We emphasize the strengths of ASP as a useful knowledge representation and reasoning paradigm to integrate AI and robotics, as well as its flexibility to provide different levels of integration of feasibility checks with planning.

关键词： frequency-modulated continuous-wave radar   microwave radar   mobile robotics   robust perception   two-dimensional imaging  

摘要： Robust environmental perception is a crucial parameter for the development of autonomous ground vehicle applications, especially in the field of agricultural robotics which is one of the priorities for the Horizon 2020 robotics funding (EU funding program for research and innovation). Because of uncontrolled and changing environmental conditions in outdoor and natural environments, data from optical sensors classically used in mobile robotics can be compromised and unusable. In such situations, microwave radar can provide an alternative and complementary solution for perception tasks. The aim of this paper is to present PELICAN radar, a microwave radar specifically designed for mobile robotics applications, including obstacle detection, mapping, and situational awareness in general. PELICAN radar provides each second a view over 360 degrees of the surrounding environment, from 5 m up to 100 m. A description of the technological solutions adopted for the development of PELICAN radar (hardware and software) is presented. Results obtained in various outdoor and open environments, including urban and natural areas, are also described. Sets of PELICAN radar data are made available online for researchers interested in processing this type of data.

关键词： Obstacle avoidance   Space robotics   Trajectory planning  

摘要： Manipulators can be utilized for various purposes during space missions, e.g., Canadarm2 manipulator mounted on the International Space Station assists in station construction and maintenance. Up to now, with only a few exceptions, manipulators in space were always controlled by astronauts or by operators on the ground. However, new ambitious missions, such as on-orbit servicing missions and active debris removal missions, will require a high level of autonomy and will pose new challenges in the field of space robotics. One of such challenges, addressed in this paper, is the problem of obstacle avoidance. This problem has been divided into three topics: (i) collision-free trajectory planning of a space manipulator mounted on a large orbital structure (such as a space station), (ii) collision-free trajectory planning of a manipulator mounted on a relatively small satellite, and (iii) collision-free trajectory planning of a space robot moving in proximity to a large orbital structure. For each topic, major challenges are identified and proposed solutions are reviewed. The presented review shows that the collision-free trajectory planning in space robotics is a very active field of studies, but there are still several open problems that need to be solved before the proposed methods could be applied during on-orbit servicing, active debris removal and on-orbit assembly of large structures.

关键词： Aerial robotics   distributed robot systems   networked robots  

摘要： The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance of communication, sensing, and processing hardware. The commoditization of hardware has reduced unit costs, thereby lowering the barriers to entry to the field of aerial swarm robotics. A key enabling technology for swarms is the family of algorithms that allow the individual members of the swarm to communicate and allocate tasks amongst themselves, plan their trajectories, and coordinate their flight in such a way that the overall objectives of the swarm are achieved efficiently. These algorithms, often organized in a hierarchical fashion, endow the swarm with autonomy at every level, and the role of a human operator can be reduced, in principle, to interactions at a higher level without direct intervention. This technology depends on the clever and innovative application of theoretical tools from control and estimation. This paper reviews the state of the art of these theoretical tools, specifically focusing on how they have been developed for, and applied to, aerial swarms. Aerial swarms differ from swarms of ground-based vehicles in two respects: they operate in a three-dimensional space and the dynamics of individual vehicles adds an extra layer of complexity. We review dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing. The main sections of this paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping. Wherever possible, we indicate how the physics and subsystem technologies of aerial robots are brought to bear on these individual areas.

关键词： arthroplasty   instrumentation   robotics   healthcare innovations   robotic assisted surgery  

摘要： Future health-care projection projects a significant growth in population by 2020. Health care has seen an exponential growth in technology to address the growing population with the decreasing number of physicians and health-care workers. Robotics in health care has been introduced to address this growing need. Early adoption of robotics was limited because of the limited application of the technology, the cumbersome nature of the equipment, and technical complications. A continued improvement in efficacy, adaptability, and cost reduction has stimulated increased interest in robotic-assisted surgery. The evolution in orthopedic surgery has allowed for advanced surgical planning, precision robotic machining of bone, improved implant-bone contact, optimization of implant placement, and optimization of the mechanical alignment. The potential benefits of robotic surgery include improved surgical work flow, improvements in efficacy and reduction in surgical time. Robotic-assisted surgery will continue to evolve in the orthopedic field. (c) 2018 Elsevier Inc. All rights reserved.

关键词： Upstream Oil & Gas   underwater vehicle   AUV   machine learning   platform   vehicle   sensor   Offshore Technology Conference   autonomous system   Artificial Intelligence   Artificial intelligence   Information Management and Systems  

摘要： This article, written by JPT Technology Editor Chris Carpenter, contains highlights of paper OTC 29069, “How AI and Robotics Can Support Marine Mining,” by Peter Kampman, Leif Christensen, Martin Fritsche, Christopher Gaudig, Hendrik Hanff, and Marc Hildrebrandt, German Research Center for Artificial Intelligence (DFKI), and Frank Kirchner, DFKI and University of Bremen, prepared for the 2018 Offshore Technology Conference, Houston, 30 April-4 May. The paper has not been peer reviewed. Copyright 2018 Offshore Technology Conference. Reproduced by permission. Marine mining initiatives open a new field of subsea operations. Offshore oil and gas sites are still located primarily in areas where divers can support maintenance and repair requirements, but future marine mining will take place in greater depths and with a complexity of machines that requires support from robotic systems equipped with a substantial amount of artificial intelligence (AI). Technologies are being developed that have the potential to support marine mining in all stages from prospection to decommissioning. These developments will likely have substantial influence in the oil and gas industry, itself searching for ways to maximize exploitation of assets. Robotic Systems Under Current Development Increasing Autonomous Underwater Vehicle (AUV) Intelligence. Commercial off-the-shelf AUVs rely mostly on acoustic and inertial sensors for their navigation. Speed measurements from a Doppler velocity log are combined with orientation values from gyroscopes and accelerometers to estimate current position. These updates are sometimes augmented by absolute-position fixes from an ultrashort baseline system. However, during such a mission, the inspection assets might not be located exactly at their expected positions. This might be because of incorrect positioning during installation, objects being dragged off location by fishermen, or sediments hiding a pipeline gradually from the view of standard sensors. Ther

关键词： Legged robot   Open Dynamics Engine   Stabilization algorithm   Model based control  

摘要： Legged locomotion systems, especially anthropomorphic mechanisms, can be modeled by using highly complex dynamic structures. In order to model these complex dynamic structures, some assumptions must be made, such as no-friction, rigid links or non-redundancy. However, with the dynamic simulators developed in recent years, it has become possible to create dynamic models without making any assumptions. In this study, a posture control algorithm was developed to automatically balance a six-legged mobile robot against external dynamic effects such as incline or contact polygon changes. A model-based control structure is preferred in order to implement the posture control algorithm to the robot control. The reference model used in model-based control was created using the ODE (Open Dynamics Engine) physics simulator. The reference model created on the ODE is always in communication with the IMU (Inertial Measurement Unit) sensor connected to the robot's body. For this reason, all the dynamic effects including externally applied forces to the real robot can be considered in the control process without making any assumptions. Consequently, real-time application results of the six-legged mobile robot on a moving platform are observed and the results have shown better performance as depicted on graphs.

关键词： Anthropomorphism   Social robotics   Industry 4.0   Cyber-physical-systems   Lightweight robotics   Collaboration   Human-machine interaction   Personality   Problem solving behavior  

摘要： New forms of artificial intelligence on the one hand and the ubiquitous networking of "everything with everything" on the other hand characterize the fourth industrial revolution. This results in a changed understanding of human-machine interaction, in new models for production, in which man and machine together with virtual agents form hybrid teams. The empirical study "Socializing with robots" aims to gain insight especially into conditions of development and processes of hybrid human-machine teams. In the experiment, human-robot actions and interactions were closely observed in a virtual environment. Robots as partners differed in shape and behavior (reliable or faulty). Participants were instructed to achieve an objective that could only be achieved via close teamwork. This paper unites different aspects from core disciplines of social robotics and psychology contributing to anthropomorphization with the empirical insights of the experiment. It focuses on the psychological effects (e.g. reactions of different personality types) on anthropomorphization and mechanization, taking the inter- and transdisciplinary field of social robotics as a starting point.

关键词： Automation   Robotics   Manufacturing industries   Rate of return   Computer simulation  

摘要： The article discusses the importance of automation and robotics in the manufacturing industry. Topics discussed include production of parts by high-mix plant using different processes, such as computer numerical control (CNC) machining, and visual inspection, getting high rate of return by implementing automation, and use of robots-as-a-platform for increasing industrial productivity.