关键词： Reinforcement learning   Exploration   Intrinsic motivation   Developmental learning   Robots  

摘要： Reinforcement Learning (RL) agents are typically deployed to learn a specific, concrete task based on a pre-defined reward function. However, in some cases an agent may be able to gain experience in the domain prior to being given a task. In such cases, intrinsic motivation can be used to enable the agent to learn a useful model of the environment that is likely to help it learn its eventual tasks more efficiently. This paradigm fits robots particularly well, as they need to learn about their own dynamics and affordances which can be applied to many different tasks. This article presents the TEXPLORE with Variance-And-Novelty-Intrinsic-Rewards algorithm (TEXPLORE-VANIR), an intrinsically motivated model-based RL algorithm. The algorithm learns models of the transition dynamics of a domain using random forests. It calculates two different intrinsic motivations from this model: one to explore where the model is uncertain, and one to acquire novel experiences that the model has not yet been trained on. This article presents experiments demonstrating that the combination of these two intrinsic rewards enables the algorithm to learn an accurate model of a domain with no external rewards and that the learned model can be used afterward to perform tasks in the domain. While learning the model, the agent explores the domain in a developing and curious way, progressively learning more complex skills. In addition, the experiments show that combining the agent's intrinsic rewards with external task rewards enables the agent to learn faster than using external rewards alone. We also present results demonstrating the applicability of this approach to learning on robots. (C) 2015 Elsevier B.V. All rights reserved.

关键词： Intelligent robots   Cognitive robotics   Autonomous systems   Embodied AI   Integrated systems  

摘要： The early promise of the impact of machine intelligence did not involve the partitioning of the nascent field of Artificial Intelligence. The founders of Al envisioned the notion of embedded intelligence as being conjoined between perception, reasoning and actuation. Yet over the years the fields of AI and Robotics drifted apart. Practitioners of AI focused on problems and algorithms abstracted from the real world. Roboticists, generally with a background in mechanical and electrical engineering, concentrated on sensori-motor functions. That divergence is slowly being bridged with the maturity of both fields and with the growing interest in autonomous systems. This special issue brings together the state of the art and practice of the emergent field of integrated AI and Robotics, and highlights the key areas along which this current evolution of machine intelligence is heading. (C) 2017 Elsevier B.V. All rights reserved.

关键词： intelligent robotics   flexibility   reusability   multisensor   state machine   software architecture   computer vision  

摘要： This paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques.

摘要： Stretchable and flexible multifunctional electronic components, including sensors and actuators, have received increasing attention in robotics, electronics, wearable, and healthcare applications. Despite advances, it has remained challenging to design analogs of many electronic components to be highly stretchable, to be efficient to fabricate, and to provide control over electronic performance. Here, we describe highly elastic sensors and interconnects formed from thin, twisted conductive microtubules. These devices consist of twisted assemblies of thin, highly stretchable (>400%) elastomer tubules filled with liquid conductor (eutectic gallium indium, EGaIn), and fabricated using a simple roller coating process. As we demonstrate, these devices can operate as multimodal sensors for strain, rotation, contact force, or contact location. We also show that, through twisting, it is possible to control their mechanical performance and electronic sensitivity. In extensive experiments, we have evaluated the capabilities of these devices, and have prototyped an array of applications in several domains of stretchable and wearable electronics. These devices provide a novel, low cost solution for high performance stretchable electronics with broad applications in industry, healthcare, and consumer electronics, to emerging product categories of high potential economic and societal significance.

关键词： 机器人学   工程教育专业认证   教学改革  

摘要： 工程教育专业认证对于保障高校工程教育质量、促进我国工程教育教学改革、培养国际工程师具有非常重要的作用。结合学校机械设计制造及自动化专业的工程教育专业认证要求和机器人学课程教学中存在的问题,从教学内容、教学手段、实验教学、科研与教学结合、教学评价体系等方面对该课程进行教学改革,通过近两年的课堂教学实践显示出改革方法的有效性。

关键词： 刚柔耦合   动态特性   模态中性文件   曲线偏差  

摘要： 为真实地反映悬挂式搬运翻曲机器人构件的运动及所受载荷情况,利用有限元分析软件Ansys对关键部件生成柔性体模态中性文件,通过专用接口导入Adams虚拟样机仿真软件,建立机器人的刚柔耦合动力学模型并进行仿真。所得数据导入Matlab中分析比较了多刚体模型和刚柔耦合模型下机器人末端质心处轨迹曲线偏差及肩关节所受力矩的情况。结果表明,考虑了弹性变形和振动情况下的刚柔耦合模型更加可靠、准确地反映出整机运动的真实动态特性,为机器人结构进一步改进及振动的减小提供数据支持。

关键词： 北京工商大学   机器人   青少年   竞赛   科学技术协会   中小学生   人民政府   科技创造  

摘要： 3月17日至19日，第十七届北京青少年机器人竞赛在北京工商大学良乡校区举行决赛。该竞赛由北京市科学技术协会、北京市房山区人民政府、北京工商人学联合主办，以“诚佶伴我成长，科技创造未来”为主题，吸引了全市数十万中小学生的关注，2000余人报名参赛，经过逐层选拔，共有207支队伍、581名学生成功晋级。本届竞赛是赛事举办以来规模最大的一届。

关键词： 石油工程建设   焊接机器人   技能竞赛   建设系统   操作   职业   技能大赛   安装检测  

摘要： 2017年4月23日，中国技能大赛一第十三届全国工程建设系统职业技能竞赛暨第一届全国焊接机器人操作大赛完成全部赛程，在欢呼声中战幕缓缓落下。过去的7天里，各参赛选手纷纷亮出自己的绝活，展开激烈角逐，顽强拼搏、奋勇争先，赛出了风格、赛出了水平。中国十九冶集团有限公司的肖俊、中石化石油工程建设公司的张宽臣、南京华建工业设备安装检测调试有限公司的王海浪分别获得了焊工、

关键词： 机器人竞赛平台   工程经验   创新平台  

摘要： 机器人实践教学一直是个热点,通过搭建机器人竞赛平台,不仅可以开阔学生视野、激发学习兴趣,还可以培养学生的工程经验和综合分析能力。基于此,文章首先分析了搭建机器人竞赛平台的意义,其次分析了搭建机器人竞赛平台的目的,最后探索了机器人创新平台的设计方法。

关键词： 工业机器人   竞赛   五年规划   中国  

摘要： 按照中国机器人发展五年规划所提出的目标，到2020年，中国的机器人密度将达到每万名工人对应150台以上，预计3～4年内中国机器人应用规模将高居全球第一，