关键词： Underactuated systems   legged robots   stability & control   hybrid systems   mechanisms & models  

摘要： Humans as bipeds enjoy certain advantages over other terrestrial systems, which motivate us to study and develop biped robots. Underactuated biped robots adopt the energy efficient gait of the biological counterparts and passive walkers. However, the control design for such robots is challenging due to lesser controllable joints, non-linear hybrid system dynamics and the goal of utilizing the natural dynamics. This paper summarizes various designs, models and control strategies used to enable stable walking and running for the underactuated biped robots. It gives a brief about how the mechanism of such bipeds evolved to incorporate the design variations which significantly improved the system performance. The few basic mathematical models which are used to simulate, analyze and predict the system dynamics and test control designs, are described, highlighting the difference in walking and running models. An introduction to the various stability criteria and control methods, successful in enabling stable walking for the robots on flat or uneven terrains, is provided. This paper gives a brief of the significant achievements in this field and ends with the highlights of the abilities inherent to humans but lacking in underactuated bipeds, and adopting or improving which should be the focus of the future research.

关键词： Robotics   task-specificity   experience-dependent neuroplasticity   upper extremity   orthopaedic disorders  

摘要： The focus of research using technological innovations such as robotic devices has been on interventions to improve upper extremity function in neurologic populations, particularly patients with stroke. There is a growing body of evidence describing rehabilitation programs using various types of supportive/assistive and/or resistive robotic and virtual reality-enhanced devices to improve outcomes for patients with neurologic disorders. The most promising approaches are task-oriented, based on current concepts of motor control/learning and practice-induced neuroplasticity. Based on this evidence, we describe application and feasibility of virtual reality-enhanced robotics integrated with current concepts in orthopaedic rehabilitation shifting from an impairment-based focus to inclusion of more intense, task-specific training for patients with upper extremity disorders, specifically emphasizing the wrist and hand. The purpose of this paper is to describe virtual reality-enhanced rehabilitation robotic devices, review evidence of application in patients with upper extremity deficits related to neurologic disorders, and suggest how this technology and task-oriented rehabilitation approach can also benefit patients with orthopaedic disorders of the wrist and hand. We will also discuss areas for further research and development using a task-oriented approach and a commercially available haptic robotic device to focus on training of grasp and manipulation tasks.

关键词： 高速重载   运动学   动力学   步态规划   仿真  

摘要： 现阶段世界各地,自然灾害、突发事件和恐怖活动频发,威胁着人们的生命财产安全。因此,面对无法预估的灾难现场和救援工作,开发新型移动式并能够快速且重载的搬运机器人,开展搜救、运输物资等救援工作成为移动机器人主要研究的课题。本文提出一种轮足复合式(7)2-UPS(10)U(8)&R串并混联机构的高速重载机器人,其研究目的主要是为了实现复杂环境下的高速度重载荷搬移及救援等。本文从机器人机构、运动学、动力学、稳定性、步态规划和实验几个方面进行研究:首先,根据机器人步行环境及行走速度要求,并结合人体仿生原理,提出轮足复合式串并混联腿部机构和内外架机体机构。在此基础上提出高速重载的设计目标,并根据设定的速度及载荷分析机器人机构。作为后续分析的基础,对腿部机构及机器人整机进行位置分析,并求解腿部机构的工作空间。其次,基于上述求解的工作空间及位置分析,对机器人腿部机构的雅克比矩阵及各条腿的速度进行求解,并分析高速重载机器人整机的速度。根据腿部机构各杆的速度并结合拉格朗日方程建立机器人腿部机构的动力学方程。再次,规划机器人腿部机构的足端轨迹,针对一般情况下足端轨迹及越障情况下足端轨迹两种情况进行规划。并基于机器人静态稳定性及动态稳定性对高速重载机器人进行步态规划,本文主要进行两种步态规划,包括对角小跑步态及机器人越障步态。最后,基于上述机器人腿部及整机运动学和动力学、轨迹及步态规划,对机器人的腿部机构及整机进行虚拟样机仿真,并对该高速重载机器人的电机及电动推杆进行选型,对现有样机进行轨迹规划实验,验证所求理论的正确性。

关键词： 水下机器人   ROV   总体设计   水动力性能   全耦合  

摘要： 缆控水下机器人(ROV)作为应用最广泛的潜航器,是近年学术界研究热点之一,它在船舶与海洋工程、水下工程、水生物学、海洋地理学、水下考古学等多个领域发挥着重要作用。本文开展了一种可在水下进行多自由度灵活运动、实时观测作业的新型ROV方案和本体结构设计。基于CFD数值计算方法初步研究了其水动力性能,通过滑移网格方法验证了ROV本体与多推进器全耦合状态下运动与动力学数值仿真预报可行性;根据设计方案完成了ROV样机制作和系统调试;开展了室内水池和室外开阔水域中ROV功能验证和航行试验。基于模块化设计思想确定ROV系统方案,完成了ROV水下本体各功能模块的材料选择、结构设计和关键设备选型;基于有限元方法校核不同工况下耐压舱体和框架结构强度,根据浮心和重心准则校核了其静稳性能。最终基于三维CAD方法完成了样机的虚拟装配。建立了ROV系统动力学模型。基于CFD数值计算方法对ROV水下本体和脐带缆在不同航速下的六自由度水动力性能进行计算研究,并总结了不同作业水深和航速下脐带缆对ROV本体的动力学影响。通过滑移网格传递多计算域流场数据方法对ROV本体直航、翻转等自由度运动过程中本体与多桨全耦合运动和动力学问题进行了初步仿真计算,验证了这一更接近实际状况的多推进器ROV运动数值预报方法的可行性。根据ROV系统与水下本体结构设计方案绘制零部件加工图纸,确定最优制作工艺,通过机械加工等手段完成零部件的生产制造和装配;完成ROV系统各功能模块、整体工程样机组装和陆上调试。最后开展了室内水池试航与功能验证试验、室外开阔水域航行试验。结果表明其航行、观测和作业功能满足设计要求。本文研制的中小型ROV系统功能全面、运动灵活、作业稳定性高且量产成本低,可以弥补国内水下机器人行业的不足,改变依赖国外产品的现状,对推动我国船舶与海洋工程行业的发展,海洋地理学、水生物学等相关学科的进步具有重要意义。

关键词： 机器人学   武汉   湖北   大数据产业   罗克韦尔自动化公司   智能制造   西门子   研华科技   智能工厂   创新中心   副总裁   合作创新联盟   北京信息科技大学   菲尼克斯   新闻  

摘要： 短讯罗克韦尔自动化公司宣布任命Patrick Goris为高级副总裁兼首席财务官,自2017年2月7日起生效。他将直接受命于总裁兼首席执行官Blake Moret。Goris继任的职务曾由Theodore Crandall担任,而后者已被任命为控制产品和解决方案(CP&S)部门高级副总裁。

关键词： Principles of Robotics   artificial intelligence   human-robot interaction   human rights and technology   technology and regulation  

摘要： The thought-provoking EPSRC Principles of Robotics stem largely from the reflection on the extent to which robots can affect our lives. These comments highlight the fact that, while the principles may address to a good extent the present technological challenges, they appear to be less immediately suited for future technological and conceptual dares. The first part of the paper is dedicated to the search of the definition of what a robot is. Such a definition should offer the basic conceptual platform on which a normative endeavour, aiming to regulate robots in society, should be based. Concluding that the Principles offer no clear yet flexible insight into such a (meta-) definition, which would allow one to take into account the parameters of informed technological imagination and of envisaged social transformation, the second half of the paper highlights a number of regulatory points of tension. Such tensions, it is argued, stem largely from the absence of an appropriate conceptual platform, influencing negatively the extent to which the principles can be effective in guiding social, ethical, legal and scientific conduct.

摘要： 2017中国(广东)国际“互联网+”博览会在佛山潭洲国际会展中心开幕,中国首个机器人及“工业4.0”综合服务平台——佛山机器人学院在此间正式启动成立,并推出首条中德合作“工业4.0”示范生产线。该学院由佛山顺德官方主导建立,是中国首家机器人学院,也是德国汉诺威机器人学院唯一海外授权的机构。学院将以智

关键词： 空间垃圾清理   空间飞网机器人   释放动力学建模   动力学分析   柔性欠驱动控制  

摘要： 由于航天技术的迅速发展,以及人类对于空间科学、空间资源、空间军事的强烈探索精神,全世界各个国家每年发射的卫星总数都再不断攀升,而相应的,空间垃圾的数量也在快速增长。目前,国际空间组织已经就空间垃圾卫星处理问题开展了多项专题研讨会,各航天大国都对日益严重的空间垃圾问题给予了高度重视,我国已于2008年启动了空间碎片减缓及清理专项计划,旨在研究如何处理空间垃圾问题。利用空间机器人完成在轨垃圾清除从本世纪开始成为空间技术发展的一个新热点。空间飞网机器人是一种由飞网和可机动单元构成的用于空间垃圾主动抓捕的新型空间机器人,由于具有操作范围大、操作灵活、抓捕包络面积大、抓捕条件低等优势,空间飞网机器人具有其他空间抓捕装置所无法比拟的特点,因此将在未来的空间非合作目标抓捕任务中发挥越来越大的作用。但空间飞网机器人是一个柔性多体系统,其动力学特性和释放特性都鲜有研究,且由空间系绳组成的飞网是一个高自由度的欠驱动柔性系统,这大大增加了控制设计的复杂性。空间飞网机器人释放后的稳定飞行是执行在轨服务任务的前提,因此对空间飞网机器人的释放和释放后稳定控制进行研究是十分重要的。本文主要根据空间飞网机器人的动力学特点,研究其释放动力学和释放后的稳定控制问题,论文的主要研究内容及研究成果如下:首先,针对高自由度柔性空间飞网机器人,提出了完整的运动学和动力学模型,并完成了动力学分析。飞网机器人系统被离散成一系列质点并由无质量弹簧连接而成,所推导的动力学模型既可以同时体现飞网的高自由度柔性和系绳弹性。在所推导动力学模型的基础上,推导了简化的系统模型,完成了动力学分析。在动力学分析中,解算得到了空间飞网机器人的一组奇异解,并通过相平面分析和仿真验算,得出这组奇异解是系统的一组非稳定平衡点。其次,针对空间飞网机器人释放中的折叠方式、弹射初始条件等问题,对其释放特性进行了研究,并给出了空间飞网机器人释放初始条件的最优选择。在对飞网在轨自由飞行进行研究的基础上,根据经典折纸力学中的相关研究,以及飞网弹射的工程要求,给出了飞网折叠方式的三个候选项,给出了飞网在轨自由飞行的评价指标,给出了候选折叠方案在评价指标下的对比分析;在给定折叠方式的基础上,进一步研究了飞网机器人弹射释放的初始角度和速度研究;最后,根据释放条件的分析,在本章小结中给出了飞网机器人释放初始条件的具体选择。再次,针对空间飞网机器人在自由飞行段结束后的控制衔接跳变问题,提出了基于超扭二阶滑模变结构的控制算法,可以有效的抑制飞网的柔性振动,保证飞网机器人完成从自由飞行到控制飞行的稳定过渡,且相较于传统滑模控制器大大减小了执行器颤振。本算法创新性的剥离了系统状态方程的可控部分和不可控部分,将所有系统振动视为作用在4个可机动单元上的干扰,以经典的超扭二阶滑模为基础加以改进,设计了基于补偿项的自适应超扭二阶滑模控制器,既可以快速抑制上述的不确定干扰,还能最大程度的降低控制抖振。最后,通过稳定性分析和飞网机器人的仿真验证,完成了该算法的数学和计算验证。然后,进一步针对未知不确定下空间飞网机器人在自由飞行段结束后的控制衔接跳变问题,在考虑了连接主系绳干扰和模型不确定性的情况下,解决了持续变化的未知不确定作用下,飞网机器人稳定控制问题。根据单根空间系绳的运动可知,连接主系绳的拉力突变会通过其与飞网的连接点,使整个飞网机器人振动发散。所以,针对此问题,创新性的引入了自适应模糊逼近器,利用其通用的非线性逼近能力,辨识由连接主系绳的干扰力,以及系统动力学方程的模型误差共同构成的未知不确定。提出的模糊自适应超扭滑模控制算法,既继承了滑模算法的强鲁棒性、易于设计等优点,又能利用模糊算法的通用非线性逼近能力,辨识控制干扰,从而解决滑模算法中的控制过量问题,达到精准控制的要求,最大程度的减少滑模算法中所固有的抖振问题,减少燃料消耗,延长执行器使用寿命。最后,针对复杂变结构指令下空间飞网机器人的位置跟踪问题,提出了利用分层模糊滑模控制方法解决欠驱动、高自由度、全柔性的空间飞网机器人的构型机动控制问题。所提出的控制算法引入了“分层”滑模面的概念,通过将滑模面分层,涵盖所有的飞网节点状态;并利用带有自学习律的模糊逼近算法估计有建模误差的未知不确定;在系统的闭环稳定性证明中,通过Lyapunov函数证明了系统所有节点在内的闭环系统的渐进稳定性和状态跟踪误差的收敛性,从而保证了飞网机器人中所有编织节点在构型变化中能够渐进收敛。该算法既继承了滑模算法的强鲁棒性、易于设计等优点,模糊算法的通用非线性逼近能力,又能通过分层滑模参数成功的解决了飞网机器人的高自由度欠驱动问题,解决了复杂变结构指令下的构型机动问题。

关键词： Robotics   coronary artery disease   percutaneous coronary intervention   peripheral arterial disease   radiation safety  

摘要： Introduction: The fundamental technique of performing percutaneous cardiovascular (CV) interventions has remained unchanged and requires operators to wear heavy lead aprons to minimize exposure to ionizing radiation. Robotic technology is now being utilized in interventional cardiology partially as a direct result of the increasing appreciation of the long-term occupational hazards of the field. This review was undertaken to report the clinical outcomes of percutaneous robotic coronary and peripheral vascular interventions. Areas covered: A systematic literature review of percutaneous robotic CV interventions was undertaken. The safety and feasibility of percutaneous robotically-assisted CV interventions has been validated in simple to complex coronary disease, and iliofemoral disease. Studies have shown that robotically-assisted PCI significantly reduces operator exposure to harmful ionizing radiation without compromising procedural success or clinical efficacy. In addition to the operator benefits, robotically-assisted intervention has the potential for patient advantages by allowing more accurate lesion length measurement, precise stent placement and lower patient radiation exposure. However, further investigation is required to fully elucidate these potential benefits. Expert commentary: Incremental improvement in robotic technology and telecommunications would enable treatment of an even broader patient population, and potentially provide remote robotic PCI.

关键词： vehicular devices   mobile sensors   mobile robots   radar   performance evaluation  

摘要： Moving sensors, vehicular devices and mobile robots can monitor larger areas than fixed sensors do during a fixed time period. However, the benefits of adopting vehicular devices, moving sensors and robots are not well understood. In this paper, our goal is to understand the benefits better. We model intrusion detection processes via a radar and a mobile sensor/robot (or a vehicular device) mathematically. We also consider using a pair of moving sensors or robots together, and we study their detection quality. We compare the robot detection and the radar detection in terms of intrusion loss probability and the expected capture time. Our studies help to understand the benefits of understanding mobility coverage.