关键词： Self-assembly   Wheeled mobile robot   Docking   Navigation   Lagrangian dynamics  

摘要： Autonomous docking is a focus of research in the field of self-assembly robots. Navigation is a significant stage in the process of autonomous docking between two robotic modules;it determines the efficiency of docking and even the success and failure of the docking task. In most cases, it is too difficult to simultaneously satisfy both linear and angular displacement constraints in a single dynamic numerical computation process. In the present paper, the navigation process is divided into two stages: first, the angular displacement constraint is satisfied, and then the linear displacement condition is fulfilled. In this way, the constraints are loosened and the difficulty of numerical computation is thereby effectively reduced. This two-stage docking navigation model is the main contribution of the present work. By taking the non-holonomic nature of the navigation behavior into consideration, both kinematic and dynamic analyses are performed, and the voltage data of the DC motors required by the two-stage docking navigation are obtained. Finally, docking navigation experiments are completed on a self-assembly modular robot named Sambot. It is verified that the present two-stage strategy is effective in controlling the docking navigation process.

关键词： Complexity engineering   Design practice   Swarm Robotics   Synthetic Biology  

摘要： This paper reports on the development of a cross-domain framework for describing complex design practices. The framework is grounded in studies of two different complex design fields: Synthetic Biology and Swarm Robotics. In the first study, we interviewed practitioners in Synthetic Biology, identifying three essential aspects of complex design problems and practices. The first of these aspects is the characterisation of system complexity, the second is the design objective taken with respect to this complexity, and the third is the design approach applied to realise this objective. In the second study, we interviewed designers in Swarm Robotics, confirming the domain generality of the three aspects identified in the first study and permitting a comparison to be made of how the two fields differ from each other in these aspects. Considered together, the two studies provide the basis for building a cross-domain framework for describing complex design practices. Such a framework is presented here, not to exhaust all possible descriptions of complex design practice but rather to provide a structured yet adaptable way of highlighting the important aspects of these descriptions. Indeed, each aspect of complex design can be can be broken down into different elements depending on the design contexts under consideration. Having such a framework enables designers to identify fundamental similarities and differences both between and within fields.

关键词： Industrial robots   Manufacturing industries   Economic development   Supply & demand   Manufacturing cells   Robots -- Programming  

关键词： Neuroscience   Robotics   Synergies   Hand   Grasping  

关键词： MMW radar   FMCW radar   Mobile robotics   2D imaging   Robust perception  

摘要： Robust environmental perception is a crucial parameter for the development of autonomous ground vehicle applications, especially in the field of agricultural robotics which is one of the priorities for the Horizon 2020 robotics funding (EU funding program for research and innovation). Because of uncontrolled and changing environmental conditions in outdoor and natural environments, data from optical sensors classically used in mobile robotics can be compromised and unusable. In such situations, millimeter-wave radar can provide an alternative and complementary solution for perception tasks. The aim of this paper is to present the PELICAN radar, a millimeter-wave radar specifically designed for mobile robotics applications, including obstacle detection, mapping and situational awareness in general. In this first of a two-part paper, the choice of a frequency-modulated continuous-wave radar is explained and the theoretical elements of this solution are detailed. PELICAN radar is using a rotating fan-beam antenna, and the construction of 2D representations of the surrounding environments with radar data is described through simulation results. The second part of the paper will be devoted for a detailed description of PELICAN radar, as well as experimental results. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Hand   Comment   robotics   Neurophysiology   Biological   aluminium   Neurosciences   artificial   MOMENT MAGNITUDE  

关键词： Movement   Force   Biomechanics   Electromyography   Motor control  

摘要： The term 'synergy' from the Greek synergia means 'working together'. The concept of multiple elements working together towards a common goal has been extensively used in neuroscience to develop theoretical frameworks, experimental approaches, and analytical techniques to understand neural control of movement, and for applications for neuro-rehabilitation. In the past decade, roboticists have successfully applied the framework of synergies to create novel design and control concepts for artificial hands, i.e., robotic hands and prostheses. At the same time, robotic research on the sensorimotor integration underlying the control and sensing of artificial hands has inspired new research approaches in neuroscience, and has provided useful instruments for novel experiments. The ambitious goal of integrating expertise and research approaches in robotics and neuroscience to study the properties and applications of the concept of synergies is generating a number of multidisciplinary cooperative projects, among which the recently finished 4-year European project "The Hand Embodied" (THE). This paper reviews the main insights provided by this framework. Specifically, we provide an overview of neuroscientific bases of hand synergies and introduce how robotics has leveraged the insights from neuroscience for innovative design in hardware and controllers for biomedical engineering applications, including myoelectric hand prostheses, devices for haptics research, and wearable sensing of human hand kinematics. The review also emphasizes how this multidisciplinary collaboration has generated new ways to conceptualize a synergy-based approach for robotics, and provides guidelines and principles for analyzing human behavior and synthesizing artificial robotic systems based on a theory of synergies. (C) 2016 Elsevier B.V. All rights reserved.