关键词： society of robots   soft robotics   neighbor collision avoidance   multidisciplinary research in social robotics   hand synergies  

摘要： The sustainability of social robotics, like other ambitious research programs, depends on the identification of lines of inquiry that are coherent with its visionary goals while satisfying more stringent constraints of feasibility and near-term payoffs. Within these constraints, this article outlines one line of inquiry that seems especially viable: development of a society of robots operating within the physical environments of everyday human life, developing rich robot-robot social exchanges, and yet, refraining from any physical contact with human beings. To pursue this line of inquiry effectively, sustained interactions between specialized research communities in robotics are needed. Notably, suitable robotic hand design and control principles must be adopted to achieve proper robotic manipulation of objects designed for human hands that one finds in human habitats. The Pisa-IIT SoftHand project promises to meet these manipulation needs by a principled combination of sensorimotor synergies and soft robotics actuation, which aims at capturing how the biomechanical structure and neural control strategies of the human hand interact so as to simplify and solve both control and sensing problems.

关键词： Surgical robotics   minimally invasive surgery   telesurgery   teleoperation   cognitive surgical robotics  

摘要： Commercial surgical robots have been in clinical use since the mid-1990s, supporting surgeons in various tasks. In the past decades, many systems emerged as research platforms, and a few entered the global market. This paper summarizes the currently available surgical systems and research directions in the broader field of surgical robotics. The widely deployed teleoperateci manipulators aim to enhance human cognitive and physical skills and provide smart tools for surgeons, while image-guided robotics focus on surpassing human limitations by introducing automated targeting and treatment delivery methods. Both concepts are discussed based on prototypes and commercial systems. Through concrete examples the possible future development paths of surgical robots are illustrated. While research efforts are taking different approaches to improve the capacity of such systems, the aim of this survey is to assess their maturity from the commercialization point of view.

关键词： molecular robotics   biped walking on microtubules   motion of kinesin-1 and dynein alog axons and dendrites   particles and wave solutions   neuro-robotics  

摘要： Remarkable biological examples of molecular robots are the proteins kinesin-1 and dynein, which move and transport cargo down microtubule "highways," e.g., of the axon, to final nerve nodes or along dendrites. They convert the energy of ATP hydrolysis into mechanical forces and can thereby push them forwards or backwards step by step. Such mechano-chemical cycles that generate conformal changes are essential for transport on all different types of substrate lanes. The step length of an individual molecular robot is a matter of nanometers but the dynamics of each individual step cannot be predicted with certainty (as it is a random process). Hence, our proposal is to involve the methods of quantum field theory (QFT) to describe an overall reliable, multi robot system that is composed of a huge set of unreliable, local elements. The methods of OFT deliver techniques that are also computationally demanding to synchronize the motion of these molecular robots on one substrate lane as well as across lanes. Three different challenging types of solutions are elaborated. The impact solution reflects the particle point of view;the two remaining solutions are wave based. The second solution outlines coherent robot motions on different lanes. The third solution describes running waves. Experimental investigations are needed to clarify under which biological conditions such different solutions occur. Moreover, such a nano-chemical system can be stimulated by external signals, and this opens a new, hybrid approach to analyze and control the combined system of robots and microtubules externally. Such a method offers the chance to detect mal -functions of the biological system.

关键词： attractive affine varieties   polynomial systems   invariant affine varieties  

摘要： The main goal of this paper is to compute a class of polynomial vector fields, whose associated dynamical system has a given affine variety as attractive and invariant set, a given point in such an affine variety as invariant and attractive and another given affine variety as invariant set, solving the application of this technique in the robotic area. This objective is reached by using some tools taken from algebraic geometry. Practical examples of how these vector fields can be computed are reported. Moreover, by using these techniques, two feedback control laws, respectively, for a unicycle-like mobile robot and for a car-like mobile robot, which make them move, within the workspace, approaching to a selected algebraic curve, are given.

关键词： 自主学习   信息技术教师   能力风暴   实践教学活动   探究方法   技术探究   向右转   预测结论   接受者   延时时间  

摘要： 实验是科学课程学习的主要探究方法之一,在信息技术教学中,学生也可以通过类似科学探究实验的方式进行自主学习。因此,如何巧设探究实验,助力信息课堂,提高教学效率是信息技术教师面临的重要课题。下面笔者以《机器人学走路》（浙江教育出版社,为能力风暴VJC1.5仿真版软件）一课为例,谈谈如何设计有效的＂探究实验＂,开展探究性实践教学活动。

关键词： Human behavior learning   Hidden Markov model  

摘要： Many robots, such as human guide robots and service robots, need to learn the human behavior such that the robots can merge into human society. This learning process is in task space. However, the desired trajectories should be in joint space such that each joint can be moved like human. This needs inverse kinematics. In most of cases, the inverse kinematics do not have analytical solutions. Few training methods work in joint space directly, because they need dynamic time warping to remove speed influence. Both inverse kinematics and dynamic time warping destroy the accuracy of the learning. In this paper, the desired trajectory is trained in joint space without the dynamic time warping. In order to learn the demonstrations in joint space, we use two techniques, Lloyd's algorithm and modified hidden Markov model, to solve the problems in joint space learning. Since the desired trajectories are the joint angles, they can be applied directly without inverse kinematics. Experimental results show that the proposed algorithm works well for human behavior learning. (C) 2015 Elsevier B.V. All rights reserved.

关键词： 食品分拣机器人   虚拟样机   动力学仿真   刚体动力学   刚柔耦合动力学  

摘要： 针对六自由度关节式食品分拣机器人的结构特点,运用拉格朗日法对所设计的机器人进行动力学分析。建立机器人的虚拟样机模型,并在ADAMS中对其进行刚体动力学仿真,得到各关节角度、角速度、角加速度、力矩以及功率曲线,发现该机器人具有较好的运动稳定性以及动态响应性,可为电机选型提供理论依据。采用SimDesigner,对所设计的机器人进行刚柔耦合动力学仿真,结果表明机械臂设计合理,可为食品分拣机器人的设计与改进提供指导。

关键词： 三自由度并联机器人   动力学   ADAMS  

摘要： 以Delta并联机构为模型,利用其几何关系建立逆向动力学数学模型。利用三维实体建模软件Pro/E建立三自由度并联机器人的实体模型,导入到动力学仿真软件ADAMS进行运动学和动力学仿真,所得结果与理论结果一致。为三自由度并联机器人的控制器设计与优化提供仿真数据支撑,也为并联机器人的结构研究与开发奠定了理论基础。