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： 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： 铣削机器人   动力学建模   联合仿真  

摘要： 铣削机器人末端刀具动力的实时控制是保证铣削精度和表面质量的前提,运用牛顿-欧拉递推法对工业铣削机器人进行动力学分析,建立动力学模型,并采用三维建模软件Solid Works及动力学分析软件MATLAB联合建立动力学仿真模型,进行动力学仿真,得到了关节运动参数曲线图,仿真结果与理论计算结果一致,证明了理论推导的正确性及仿真模型建立的准确性。

关键词： Industrial manipulators   Robotics simulation   CAD   Serial robots  

摘要： This paper presents Industrial Robotics Simulation Design Planning and Optimization platform named IRoSim, which is based on SolidWorks Application Programming Interface (API) to offer an intuitive and convertible environment for designing and simulating robotized tasks. The core idea is to integrate features of mechanical CAD and robotics CAD into the same platform to facilitate the development process through the designed Graphical User Interface (GUI) which permits user friendly interaction. The platform includes various 3D models that are essential for developing any robotized task and offers possibility to integrate new models in simulation. Robotic manipulator library is one such example which contains several types of serial arms with different combinations of revolute and prismatic joints. The platform provides most important steps such as defining the task, CAD learning of the end-effector's trajectory, checking the manipulator's reachability to perform a task, simulating the motion and finally validating the manipulator's trajectory to avoid possible collisions. To demonstrate the efficiency of the proposed approach, two frequent and important tasks (spot welding and painting) using a 6-Degree Of Freedom (DOF) industrial robotic manipulator have been considered. The output of the proposed strategy provides collision-free trajectory of the manipulator's motion which can be directly mapped to a real site. Moreover, the approach permits addressing the problems related with the real implementation of robotized tasks. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Human-centered robotics   Telepresence robotics   Engagement   Interest development   Problem-based learning  

摘要： Early experiences in science, technology, engineering, and math (STEM) are important for getting youth interested in STEM fields, particularly for girls. Here, we explore how an after-school robotics club can provide informal STEM experiences that inspire students to engage with STEM in the future. Human-centered robotics, with its emphasis on the social aspects of science and technology, may be especially important for bringing girls into the STEM pipeline. Using a problem-based approach, we designed two robotics challenges. We focus here on the more extended second challenge, in which participants were asked to imagine and build a telepresence robot that would allow others to explore their space from a distance. This research follows four girls as they engage with human-centered telepresence robotics design. We constructed case studies of these target participants to explore their different forms of engagement and phases of interest development—considering facets of behavioral, social, cognitive, and conceptual-to-consequential engagement as well as stages of interest ranging from triggered interest to well-developed individual interest. The results demonstrated that opportunities to personalize their robots and feedback from peers and facilitators were important motivators. We found both explicit and vicarious engagement and varied interest phases in our group of four focus participants. This first iteration of our project demonstrated that human-centered robotics is a promising approach to getting girls interested and engaged in STEM practices. As we design future iterations of our robotics club environment, we must consider how to harness multiple forms of leadership and engagement without marginalizing students with different working preferences.

关键词： Robotics technologies and systems   Technology governance   Science and Technology studies   Ethics of technology   Law and technology   Enhancement   Policy recommendations  

摘要： This paper intends to sum up the main findings of the European project RoboLaw. In this paper, the authors claim that the European Union should play a pro-active policy role in the regulation of technologies so as to inform the development of technologies with its values and principles. The paper provides an explication of the rationale for analysing of a limited and heterogeneous number of robotics applications. For these applications, the following issues are addressed: whether robotics deserve a special case of regulation;the direct and indirect role ethics can play in regulating technology;the transformations of both vulnerabilities and capabilities, and the effects of liability law in favouring the socially relevant applications. In conclusion, a reflection on the possibility to generalize some of the RoboLaw findings to other technologies is proposed, with respect to liability and ethics. (C) 2016 Published by Elsevier B.V.

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： Ethics   robotics  

关键词： Affordances   Social perception   Agency   AI and Robotics   Other minds   Embodied cognition  

摘要： How do we perceive the agency of others? Do the same rules apply when interacting with others who are radically different from ourselves, like other species or robots? We typically perceive other people and animals through their embodied behavior, as they dynamically engage various aspects of their affordance field. In second personal perception we also perceive social or interactional affordances of others. I discuss various aspects of perceptible agency, which might begin to give us some tools to understand interactions also with agents truly other than ourselves or ``perhaps agents'' like present and future social robots. Robots have various kinds of physical and behavioral presence and thus make their agency-if we want to call it that-perceptible in ways that computers and other forms of AI do not. The largely dualist assumptions pertaining to the hidden bodies of traditional Turing tests are discussed, as well as the social affordance effects of such indirect interactions as opposed to interactions in physically shared space. The question is what role various abilities to reveal, hide and dynamically control the body and broader behavior plays in heterogeneous tech or machine mediated interactions. I argue that the specifics and richness of perceptible agency matters to the kind of reciprocity we can obtain.