关键词： 机器人教学   机器人竞赛   国内外教育   硬件开发   综合素质   吉林省教育厅   教育理念   机器人小车   科教工作   学习过程  

摘要： 机器人技术是一个涵盖机械、电路、程序、控制的综合学科。它包含软件编程也包含硬件开发,是一个非常好的培养学生综合素质和解决问题能力的教学平台,受到国内外教育机构的重视。2004年,我校把机器人引进了校园。成立了＂机器人竞赛小组＂,开设了校本课程。不知不觉间,我校机器人教学活动已开展了十个年头。

关键词： 机器人竞赛   创新能力   实践教学体系  

摘要： 随着教学改革的不断推进,各类学科竞赛已经成为培养创新性人才的新平台,而机器人竞赛由于其自身的综合性、科技性,也为现代教学改革注入了新的力量。本文列举了国内外规模较大、影响力较广的几项机器人竞赛。分析了机器人竞赛对于培养大学生创新能力以及其他综合能力的推动作用。最后,提出了基于机器人竞赛的实践创新教学体系,并得到了良好的教学效果。

关键词： 并联机器人   Lagrange   法   滑模控制   变参趋近率   反正切函数  

摘要： 并联机构具有时变、强耦合、非线性特性,其动力学模型计算量大、耗时长,难以实现有效的实时控制。针对新型驱动冗余三自由度并联机器人的动力学控制问题,首先,采用Lagrange方法进行了完整精确的动力学建模,在此模型的基础上设计了基于指数趋近率的动力学滑模控制器,同时,为消弱滑模控制的抖振、提高控制器性能,引入反正切函数对传统指数趋近率滑模控制进行改进。最后对动力学模型进行仿真分析,并在存在初始误差的情况下进行轨迹跟踪。结果表明,所建模型正确,改进后的滑模控制器程序运行速度大大提高,跟踪快速、精度高,其突出优点是速度抖振极小、输出力输出平稳,能有效消弱系统抖振,较传统指数趋近率滑模控制器性能更好。

关键词： 机器人足球   竞赛活动   湖南省   中小学   世界   基础教育   电化教育   人型机器人  

摘要： 5月30日，第十二届湖南省中小学机器人竞赛在长沙市周南梅溪湖中学举行。机器人灭火、机器人足球、机器人篮球、人型机器人全能挑战赛、FLL工程挑战赛、能力风暴WER能力挑战赛、能力风暴WER-J普及赛、现场竞技普及赛等八大项目的机器人云集于此，大摆擂台，各显神通。 湖南省教育厅党组成员、工委委员王建华，湖南省教育厅基础教育处副处长张晓春，湖南省电化教育馆副馆长温安顺，长沙市教育局副局长缪雅琴，湖南省电化教育馆工会主席缪高勇，长沙市周南中学校长翁光龙，长沙市周南梅溪湖中学校长叶双秋等领导出席并观摩竞赛活动。

关键词： robotic manipulators   teaching   simulation  

摘要： This paper presents a new toolbox focussed on the teaching of robotic manipulators. The library works under Matlab and has been designed to strengthen the theoretical concepts explained during the theory lectures. The educational approach is focussed on teaching the main concepts through developing math modeling and simulation. In order to do this, the toolbox aims at the fulfillment of a set of practical sessions that allow the students to test most of the concepts of an introductory course in robotic manipulators. In addition, the library possesses features that typically needed the usage of proprietary software, such as the visualization of a realistic 3D representation of commercial robotic arms and the programming of those arms in an industrial language. The practices include the concepts of direct and inverse kinematics, inverse and direct dynamics, path planning and robot programming. As a transversal practice, during the sessions, the student is asked to choose and integrate a new robotic arm in the library, proposing a particular solution to the direct and inverse kinematic problem, as well as the inclusion of other important parameters. The library has been deployed during the last year in bachelor and master studies and has received a nice acceptance. Finally, the library has been assessed in terms of usefulness, design and usage by means of a student survey. In addition, the surveys were designed to establish a relation between the student perception of the system, the time spent on the tool and their learning achievements. (c) 2014 Wiley Periodicals, Inc. Comput Appl Eng Educ 23:443-454, 2015;View this article online at;DOI

关键词： NASA  

摘要： This paper discusses the actuator-level control of Valkyrie, a new humanoid robot designed by NASA's Johnson Space Center in collaboration with several external partners. Several topics pertaining to Valkyrie's series elastic actuators are presented including control architecture, controller design, and implementation in hardware. A decentralized approach is taken in controlling Valkyrie's many series elastic degrees of freedom. By conceptually decoupling actuator dynamics from robot limb dynamics, the problem of controlling a highly complex system is simplified and the controller development process is streamlined compared to other approaches. This hierarchical control abstraction is realized by leveraging disturbance observers in the robot's joint-level torque controllers. A novel analysis technique is applied to understand the ability of a disturbance observer to attenuate the effects of unmodeled dynamics. The performance of this control approach is demonstrated in two ways. First, torque tracking performance of a single Valkyrie actuator is characterized in terms of controllable torque resolution, tracking error, bandwidth, and power consumption. Second, tests are performed on Valkyrie's arm, a serial chain of actuators, to demonstrate the robot's ability to accurately track torques with the presented decentralized control approach.

关键词： Trials   Performance metrics   robotics   Classification (Cognitive Process)   experimentation   Humanoid robots   Sensor fusion   Robot   critical incident   DARPA   CONTROL ROOM   Teams  

摘要： In December 2013, the Defense Advanced Research Projects Agency (DARPA) Robotics Challenge (DRC) Trials were held in Homestead, Florida. The DRC Trials were designed to test the capabilities of humanoid robots in disaster response scenarios with degraded communications. Each team created their own interaction method to control their robot, either the Boston Dynamics Atlas robot or a robot built by the team itself. Of the 15 competing teams, eight participated in our study of human-robot interaction. We observed the participating teams from the field (with the robot) and in the control room (with the operators), noting many performance metrics, such as critical incidents and utterances, and categorizing their interaction methods according to the number of operators, control methods, and amount of interaction. We decomposed each task into a series of subtasks, different from the DRC Trials official subtasks for points, to gain a better understanding of each team's performance in varying complexities of mobility and manipulation. Each team's interaction methods have been compared to their performance, and correlations have been analyzed to understand why some teams ranked higher than others. We discuss lessons learned from this study, and we have found in general that the guidelines for human-robot interaction for unmanned ground vehicles still hold true: more sensor fusion, fewer operators, and more automation lead to better performance.

关键词： Robotics  

摘要： This paper describes the technical approach, hardware design, and software algorithms that have been used by Team THOR in the DARPA Robotics Challenge (DRC) Trials 2013 competition. To overcome big hurdles such as a short development time and limited budget, we focused on forming modular componentsin both hardware and softwareto allow for efficient and cost-effective parallel development. The hardware of THOR-OP (Tactical Hazardous Operations Robot-Open Platform) consists of standardized, advanced actuators and structural components. These aspects allowed for efficient maintenance, quick reconfiguration, and most importantly, a relatively low build cost. We also pursued modularity in the software, which consisted of a hybrid locomotion engine, a hierarchical arm controller, and a platform-independent remote operator interface. These modules yielded multiple control options with different levels of autonomy to suit various situations. The flexible software architecture allowed rapid development, quick migration to hardware changes, and multiple parallel control options. These systems were validated at the DRC Trials, where THOR-OP performed well against other robots and successfully acquired finalist status.

关键词： KIDNEY tumors   SURGERY   ENDOSCOPIC surgery   LAPAROSCOPY   SURGICAL robots   NEPHRECTOMY  

摘要： A letter to the editor is presented in response to the article on robot-assisted surgery by Amitabh Chandra and colleagues in the February 2015 issue.