关键词： robotics   Gaze tracking   visual tracking   Surgery  

摘要： The Senhance System manufactured by TransEnterix Inc. of Research Triangle Park, North Carolina, builds on traditional laparoscopic surgery with ergonomic improvements and technological advancements. New eye-sensing technology tracks surgeons' pupils so they can pan throughout the surgical field using only eye movements. Surgeons also can zoom in or out by moving toward or away from the screen. Force feed back also helps surgeons feel whether the tissue they're grasping with the robotic arm is stiff or flexible.

关键词： Electronic beacons   Social robots   Human-robot interaction   Bluetooth Low Energy   User identification   Object identification  

摘要： Social robots are intended to coexist and to communicate with humans in a natural way. This requires these robots to be able to identify people (and objects) around them to use that information during human-robot dialogs. In this work we present how electronic beacons can benefit the interactions between humans and social robots. In particular, Bluetooth 4.0 Low Energy beacons are presented as the most suitable option, among the up-to-date available technologies. In order to show the advantages of the system during human-robot interaction, first, we present the integration of the information provided by these devices in the robot's dialog system;and after, a hidden toy hunt game is described as a case study of a scenario where electronic beacons ease the interaction between humans and a social robot. (C) 2017 Elsevier Ltd. All rights reserved.

关键词： Cybathlon   Exoskeleton   Competition   DRC  

摘要： Background: As a research scientist, my work tends to focus on scientific investigations. Our group occasionally makes discoveries or has a successful demonstration, and sometimes we can even repeatedly demonstrate something working on the hardware. This mode of operation works for research, but not for competitions. In the past few years, I have participated in two international robotics competitions, the DARPA Robotics Challenge (DRC) and the Cybathlon;the research and development process for these competitions is significantly different from our typical research work. This commentary discusses our experience preparing for the Cybathlon, and contrasts it with our experience with the DRC. Main body: The human in the loop for the Cybathlon was the biggest differentiator between the DRC and the Cybathlon. Having the human at the center of the competition not only changed the way we developed, but changed how we viewed the impact of our work. For the DRC, a physics based dynamic simulation was a powerful, and invaluable, tool for not only the algorithm developers, but the robot operator as well. For the Cybathlon, simulation was of little use because the all of closed-loop control was performed by the pilot. In the software development cycle for the Cybathlon, the push was to just come up with something that works and "lock it down" and do not change it, so that the pilot could train with a given set of motions that would not change and make up for any deficiencies with his own abilities. The Cybathlon was more of an athletic challenge for the human who was assisted by technology. The DRC was the opposite, it was a robotics challenge assisted by a human. This commentary focuses on describing the Florida Institute for Human and Machine Cognition's (IHMC) experience leading up to and at the Cybathlon, with some comparisons to the DRC experience. Conclusion: The Cybathlon was a very worthwhile experience me, my team, and of course our pilot. Knowing that our development

关键词： 机器人   动力学   小生境遗传算法   激励轨迹   参数辨识  

摘要： 针对SCARA机器人动力学参数辨识问题,提出了一种基于优化改进傅里叶级数的辨识方法。根据SCARA机器人完整动力学方程,推导得到动力学模型的线性形式。采用改进傅里叶级数作为机器人关节的激励轨迹,使得关节角度满足连续周期性,并且关节角速度和角加速度在轨迹起始和停止时刻为零。为进一步提高辨识精度,以SCARA机器人观测矩阵的条件数为目标函数,采用基于排挤机制的小生境遗传算法对激励轨迹的系数进行优化。考虑到测量噪声的影响,采用加权最小二乘法(WLS)作为参数估计方法。实验结果表明,采用所提方法能准确辨识出SCARA机器人的动力学参数,两关节力矩测量值和预测值的残差均方根分别减小了11.50%和26.35%。

关键词： 关节一体化机器人   拖拽示教   动力学   阻抗控制  

摘要： 针对关节一体化机器人在高速复杂运动下能保持手臂平滑运动同时具有拖曳式示教的功能问题。首先利用DH法建立了转换坐标系,得到了各关节连杆的相对关系,运用弦位迭代的算法解决了手臂运动解耦问题。其次,针对关节一体化机器人空机械手的结构特点,建立了用牛顿—欧拉法的动力学方程。再次,在分析阻抗控制原理的基础上,设计了笛卡尔空间基于力的阻抗控制结构,并在关节空间实现笛卡尔空间经典阻抗控制问题。最后在机器人实验平台,基于关节转矩反馈设计阻抗控制器,并进行阻抗控制实验,实现机器人拖曳式示教功能,验证了所设计算法的有效性。

关键词： FTC机器人   图像识别   空间定位  

摘要： 在FTC机器人竞赛中,为了精确控制机器人到达指定位置,以便完成后续任务,提出了通过摄像头识别位于赛场上的四个固定可视目标,对机器人进行空间定位并进行路径规划的方案。该方案有效回避了利用传感器进行控制时传感器响应时间较长、场地误差对机器人运行影响较大的弊端。

关键词： 机器人   学习   兴趣班   学校  

摘要： 几年前的一天，妈妈带着一副神秘而又掩饰不住的得意神情告诉我，她去学校听了机器人兴趣班的宣传课，

关键词： FTC竞赛   机器人   设计   组装  

摘要： 习总书记提出的利用工业制造4.0实行我国工业现代化弯道超车的伟大目标,智能机器人是关键。当前所有机器正在走向智能化和自动化,智能机器人也是现在乃至未来的热点,向青少年进行机器人的普及是非常必要的,可以提高青少年的创新实践能力和科学研究能力。本次研究通过FTC机器人的竞赛,来对一种基于光电和颜色识别传感器装置和子弹装帧结构进行配合的竞赛机器人进行设计和组装,并通过自己亲身经历的思考对机器人竞赛等一系列创新活动进行探索。

关键词： Apache   Big data   Cloud robotics   OpenStack   ROS  

摘要： The primary contribution of this research is the production of a general cloud robotics architecture that leverages the established and evolving big data technologies. Prior research in this area has not released all details of their deployed architectures, which prevents experimental results from being replicated and verified. By providing a general-purpose architecture, it is hoped that this framework will allow future research to build upon and begin to create a standardised platform, where research can be easily repeated, validated and *** secondary contribution is the critical evaluation of the design of cloud robotic architectures. Whilst prior research has demonstrated that cloud-based robotic processing is achievable via big data technologies, such research has not discussed the choice in design. With the ecosystem of big data technologies expanding in recent years, a review of the most relevant technologies for cloud robotics is appropriate to demonstrate and validate the proposed architectural design.

关键词： robotics   interdisciplinarity   fourth technological revolution   self-organization   education   bands and teams   EurAsEC cooperation   technological wave   technology ecology  

摘要： The fourth technological revolution, taking place before our eyes, is intended to free people from routine work. Countries in the lead of technological development are transferring to a new wave of innovation that is changing the geopolitical, geoeconomic, and geocultural space. A new reality is emerging, and what shape it will take and what our place will be in this new world are specified today by the educational system-the sphere of direct work with the future. A thesis according to which special focus should be given to robotics to prepare for cardinal changes and then use them in programs of secondary and higher education is substantiated.