关键词： 薄煤层   巡检机器人   摆臂   动力学分析  

摘要： 针对薄煤层综采工作面日常巡检,设计了一种关节式履带机器人,其主要特点是结构紧凑、越障能力强、便于携带。介绍了巡检机器人的机械结构,对越障姿态进行了规划,并对自撑起和越障过程中的摆臂机构进行了动力学建模,得到了摆臂电机输出转矩与机身倾角和摆臂转角的关系,为摆臂电机选型提供了理论依据,进一步提高了巡检机器人的环境适应能力。

关键词： spherical robot   control   nonholonomic constraint   combined mechanism  

摘要： This paper is concerned with free and controlled motions of a spherical robot of combined type moving by displacing the center of mass and by changing the internal gyrostatic momentum. Equations of motion for the nonholonomic model are obtained and their first integrals are found. Fixed points of the reduced system are found in the absence of control actions. It is shown that they correspond to the motion of the spherical robot in a straight line and in a circle. A control algorithm for the motion of the spherical robot along an arbitrary trajectory is presented. A set of elementary maneuvers (gaits) is obtained which allow one to transfer the spherical robot from any initial point to any end point.

关键词： Social robots   Ethics   Robotics  

摘要： This article investigates the social significance of robotics for the years to come in Europe and the US by studying robotics developments in five different areas: the home, health care, traffic, the police force, and the army. Our society accepts the use of robots to perform dull, dangerous, and dirty industrial jobs. But now that robotics is moving out of the factory, the relevant question is how far do we want to go with the automation of care for children and the elderly, of killing terrorists, or of making love? This literature review attempts to provide an engaged but sober (non-speculative) insight into the societal issues raised by the new robotics: which robot technologies are coming;what are they capable of;and which ethical and regulatory questions will they consequently raise?

关键词： Reference architecture   Social head gaze   Behavioral robotics   Human-robot interaction  

摘要： This article outlines a reference architecture for social head gaze generation in social robots. The architecture discussed here is grounded in human communication, based on behavioral robotics theory, and captures the commonalities, essence, and experience of 32 previous social robotics implementations of social head gaze. No such architecture currently exists, but such an architecture is needed to: (1) serve as a template for creating or re-engineering systems, (2) provide analyses and understanding of different systems, and (3) provide a common lexicon and taxonomy that facilitates communication across various communities. A constructed reference architecture and the Software Architecture Analysis Method (SAAM) are used to evaluate, improve, and re-engineer two existing head gaze system architectures (Human-Robot Collaboration architecture and Robot Behavior Toolkit architecture). SAAM shows that no existing architecture incorporated the summation of functionalities found in the 32 studies. SAAM suggests several architectural improvements so that the two existing architectures can better support adaptation to a new environment and extension of capability. The resulting reference architecture guides the implementation of social head gaze in a rescue robot for the purpose of victim management in urban search and rescue (US&R). Using the proposed reference architecture will benefit social robotics because it will simplify the principled implementations of head gaze generation and allow for comparisons between such implementations.

关键词： Sensor fusion   Assistive robotics   Rehabilitation robotics   Classification   Electromyography   Electroencephalography  

摘要： Modern wearable robots are not yet intelligent enough to fully satisfy the 'demands of end-users, as they lack the sensor fusion algorithms needed to provide optimal assistance and react quickly to perturbations or changes in user intentions. Sensor fusion applications such as intention detection have been emphasized as a major challenge for both robotic orthoses and prostheses. In order to better examine the strengths and shortcomings of the field, this paper presents a review of existing sensor fusion methods for wearable robots, both stationary ones such as rehabilitation exoskeletons and portable ones such as active prostheses and full-body exoskeletons. Fusion methods are first presented as applied to individual sensing modalities (primarily electromyography, electroencephalography and mechanical sensors), and then four approaches to combining multiple modalities are presented. The strengths and weaknesses of the different methods are compared, and recommendations are made for future sensor fusion research. (C) 2014 Elsevier B.V. All rights reserved.

关键词： Institutional Robotics   Philosophical foundations of social robotics   Heterogeneous multi-robot systems   Humans-robots interactions   Mediated interaction  

摘要： The way human beings engage with material things in our environment is experiencing rapid modification. Human and non-human, natural and artificial creatures are on the verge of building unprecedented relations of sociability. This paper takes this process as a horizon for Social Robotics, advancing a new approach to coordinate systems of multiple robots within social spaces durably shared by humans and machines. Given the fact that institutions are the tools in use within human societies to shape social action over long periods of time, we use human-inspired institutions to deal with scenarios involving many-to-many human-robot lasting interactions. Our approach, Institutional Robotics, is inspired by leading economists and philosophers having dedicated sustained efforts to the understanding of social institutions. This paper: (1) advocates the importance of an institution-based approach for multi-robot systems (Institutional Robotics) in real-world human-populated environments, where many-to-many social interactions among robots and humans must be considered;(2) reviews experiments conducted (including novel experimental work) and methodologies used in the process of advancing Institutional Robotics. Both contributions pave the way for a new institution-based methodology to coordinate robot collectives, which stems from an inter-disciplinary approach based on robotics, social sciences and philosophy.

关键词： Robot audition   Source localization   Binaural audition   Array processing  

摘要： This paper attempts to provide a state-of-the-art of sound source localization in robotics. Noticeably, this context raises original constraints-e.g. embeddability, real time, broadband environments, noise and reverberation-which are seldom simultaneously taken into account in acoustics or signal processing. A comprehensive review is proposed of recent robotics achievements, be they binaural or rooted in array processing techniques. The connections are highlighted with the underlying theory as well as with elements of physiology and neurology of human hearing. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： 机器人学  

ISBN: (纸本)9787560557847

摘要： 全书内容包括机器人运动学、微分运动学与静力学、轨迹规划、执行器与传感器、控制体系结构、机器人动力学、运动控制、力控制、视觉伺服以及移动机器人、机器人运动规划等。

关键词： ROBOTICS   AUTOMOTIVE engineering  

摘要： The article discusses various reports published within the issue which includes experimental work with the goal of providing the robotics community, inematic redundancy for a dexterous, fourlimbed robot and development and experimental validation of an autonomous surface vehicle control strategy.

关键词： telerehabilitation   stroke   therapy   robotics   upper extremity   hemiparesis  

摘要： Background. Geographical location, socioeconomic status, and logistics surrounding transportation impede access of poststroke individuals to comprehensive rehabilitative services. Robotic therapy may enhance telerehabilitation by delivering consistent and state-of-the art therapy while allowing remote monitoring and adjusting therapy for underserved populations. The Hand Mentor Pro (HMP) was incorporated within a home exercise program (HEP) to improve upper-extremity (UE) functional capabilities poststroke. Objective. To determine the efficacy of a home-based telemonitored robotic-assisted therapy as part of a HEP compared with a dose-matched HEP-only intervention among individuals less than 6 months poststroke and characterized as underserved. Methods. In this prospective, single-blinded, multisite, randomized controlled trial, 99 hemiparetic participants with limited access to UE rehabilitation were randomized to either (1) the experimental group, which received combined HEP and HMP for 3 h/d x5 days x8 weeks, or (2) the control group, which received HEP only at an identical dosage. Weekly communication between the supervising therapist and participant promoted compliance and progression of the HEP and HMP prescription. The Action Research Arm Test and Wolf Motor Function Test along with the Fugl-Meyer Assessment (UE) were primary and secondary outcome measures, respectively, undertaken before and after the interventions. Results. Both groups demonstrated improvement across all UE outcomes. Conclusions. Robotic + HEP and HEP only were both effectively delivered remotely. There was no difference between groups in change in motor function over time. Additional research is necessary to determine the appropriate dosage of HMP and HEP.