关键词： 六足机器人   运动学   动力学   鲁棒自适应PD控制  

摘要： 分析了六足机器人的运动学特性,建立了摆动腿的动力学模型并采用鲁棒自适应PD控制算法对各关节位置和速度进行了轨迹跟踪仿真研究。首先,根据六足机器人的结构特点定义了机体坐标系及各腿跟关节坐标系,建立了单腿运动学D-H模型,运用数值仿真软件对足端运动空间进行了仿真研究。其次,运用拉格朗日方法建立了六足机器人摆动腿的动力学模型,并对其进行了规范化处理。最后,采用鲁棒自适应PD控制算法对六足机器人的关节位置、速度进行了轨迹跟踪控制的仿真研究。仿真结果验证了该算法对此类机器人关节位置、速度轨迹跟踪控制的有效性。

关键词： 自主操作机器人   行为动力学   运动规划   位置姿态   行为协调  

摘要： 在动态或人机合作装配场合中,基于规则而不是生物行为启示的现有操作机器人的运动规划方法,难于以自然的方式对工作空间内物体的运动进行描述,而行为动力学方法则能弥补这一缺点。本文在工作空间内,建立不考虑关节约束时的操作机器人末端执行器的行为动力学运动规划模型。首先,定义了操作机器人末端执行器位置运动的基本行为,通过竞争动力学协调得到位置运动的整体行为模型。然后,利用行为动力学方法设计了末端执行器姿态运动的行为。仿真实验结果表明:利用行为动力学方法可以实现操作机器人的静态及动态场景下的自主运动规划。

关键词： 機器人   機器人學   輔助科技   健康照護  

摘要： 由於人口老化、劳动成本增加、技术革新等全球化冲击，吸引世界各国积极投入机器人技术与产品开发。机器人指可重复编程的自动控制装置，可依应用领域分为工业机器人与服务机器人，工业机器人应用於工业自动化，执行重复而单调的任务，提高生产效率。服务机器人於所处环境自主执行指定任务，满足个人或专业领域需求。本文提出几项应用实例说明机器人在医疗产业的应用，包括：达文西手术系统、奈米机器人、社交机器人与陪伴机器人，建议未来对机器人研究的探讨方向。

关键词： 辅导员工作   技能竞赛   中国自动化学会   机器人竞赛   市人民政府   大学生   临场发挥   创新思维  

摘要： 我院大学生获2016年中国机器人大赛2项一等奖。在长沙举办的“2016中国机器人大赛”上，我院三组选手凭借扎实的基本功，出色的临场发挥力克对手获得一等奖2项、二等奖1项。本次大赛由中国自动化学会机器人竞赛工作委员会等单位承办，获得中国自动化学会、长沙市人民政府和《机器人技术与应用》杂志社等机构的支持。大赛的宗旨在于激发学生的热情和创新思维、提高学生的团队精神和组织实践能力。

关键词： ROBOT design & construction   GAUSSIAN processes   ENVIRONMENTAL mapping  

摘要： An introduction is presented in which the editor discusses various reports within the issue on topics including robot's physical ability to balance, the technique called Hilbert maps, and a perspective of the Gaussian Filter.

关键词： Healthcare   Robots   Robotics   Ethics of robotics   Responsible research and innovation   Stakeholders   Dialogue   Participation   Embedded ethics  

摘要： How can we best identify, understand, and deal with ethical and societal issues raised by healthcare robotics? This paper argues that next to ethical analysis, classic technology assessment, and philosophical speculation we need forms of reflection, dialogue, and experiment that come, quite literally, much closer to innovation practices and contexts of use. The authors discuss a number of ways how to achieve that. Informed by their experience with "embedded" ethics in technical projects and with various tools and methods of responsible research and innovation, the paper identifies "internal" and "external" forms of dialogical research and innovation, reflections on the possibilities and limitations of these forms of ethical-technological innovation, and explores a number of ways how they can be supported by policy at national and supranational level. (C) 2016 The Authors. Published by Elsevier B.V.

关键词： Ethics   robotics  

关键词： Adaptive stroke length   Adjustable link length   Finite element analysis   Multi-body dynamics simulation   Gait analysis  

摘要： This paper presents the Finite element analysis (FEA), Multi-body dynamics (MBD) simulation and gait pattern analysis of a bio-inspired quadruped robot. A novel power transmission mechanism with varying gear train centre distance has been designed for generating different gait structures to suit unstructured terrain. The adjustable length of the lower link aids in improving the stability of the robot (or) make the robot to travel longer distances within a stipulated time. MBD simulation has been performed using MSC/ADAMS for torque, speed, energy and force analysis. The novel mechanism designed was able to successfully negotiate unstructured obstacles of different heights and these results have been presented in the paper. The results show a direct relationship between stroke length, lift-off distance and gear centre distance. A full scale experimental setup, along with the suitable supporting mechanisms is developed. The experimental analysis has been carried out for measuring the Ground Reaction Force (GRF). The GRF is found to be 45 N on an average, when the robot is walking.

关键词： Laparoscopy   3D   Robotics   Performance   Errors   Novices  

摘要： The advent of three-dimensional passive stereoscopic imaging has led to the development of 3D laparoscopy. In simulation tasks, a reduction in error rate and performance time is seen with 3D compared to two-dimensional (2D) laparoscopy with both novice and expert surgeons. Robotics utilises 3D and instrument articulation through a console interface. Robotic trials have demonstrated that tasks performed in 3D produced fewer errors and quicker performance times compared with those in 2D. It was therefore perceived that the main advantage of robotic surgery was in fact 3D. Our aim was to compare 3D straight-stick laparoscopic task performance (3D) with robotic 3D (Robot), to determine whether robotic surgery confers additional benefit over and above 3D visualisation. We randomised 20 novice surgeons to perform four validated surgical tasks, either with straight-stick 3D laparoscopy followed by 3D robotic surgery or in the reverse order. The trial was conducted in two fully functional operating theatres. The primary outcome of the study was the error rate as defined for each task, and the secondary outcome was the time taken to complete each task. The participants were asked to perform the tasks as quickly and as accurately as possible. Data were analysed using SPSS version 21. The median error rate for completion of all four tasks with the robot was 2.75 and 5.25 for 3D with a P value < 0.001. The median performance time for completion of all four tasks with the robot was 157.1 and 342.5 s for 3D with a P value < 0.001. Our study has shown that for novice surgeons, there is a significant benefit in a simulated setting of 3D robotic systems over 3D straight-stick laparoscopy, in terms of reduced error rate and quicker task performance time.