关键词： 机器人   动力学   多运动模式   仿真  

摘要： 针对多运动模式机器人单个可变形腿动力学问题进行系统研究,利用Kane动力学分析方法,建立了机器人单个可变形腿的逆动力学模型;借助Maple软件进行仿真,结果表明所建模型的正确性和有效性,可用于单个可变形腿运动控制器的设计;分析了关节转动速度和转动加速度对驱动力矩产生的影响,并分析了各关节驱动力矩中惯性力矩、向心力矩、哥氏力矩及重力矩所占的比例,分析结果有助于进一步规划机构的运动,优化机构设计和选择适当功率的电机。

关键词： Algorithms   Robotics   Uncertainty  

摘要： An introduction is presented which discusses various articles within the issue on topics including ways to enhance stochastic switching rates in multigyre systems, multirobot task allocation, and probabilistic framework of random matrix theory-based manipulator Jacobian matrix.

关键词： Swarm robotics   Task abstraction   Swarm intelligence   Robotics  

摘要： Research in swarm robotics focuses mostly on how robots interact and cooperate to perform tasks, rather than on the details of task execution. As a consequence, researchers often consider abstract tasks in their experimental work. For example, foraging is often studied without physically handling objects: the retrieval of an object from a source to a destination is abstracted into a trip between the two locations-no object is physically transported. Despite being commonly used, so far task abstraction has only been implemented in an ad hoc fashion. In this paper, we propose a new approach to abstracting complex tasks in swarm robotics research. This approach is based on a physical device called the "task abstraction module" (TAM) that abstracts single-robot tasks to be performed by an e-puck robot. A complex multi-robot task can be abstracted using a group of TAMs by first modeling the task as the set of its constituent single-robot subtasks and then abstracting each subtask with a TAM. We present a collection of tools for modeling complex tasks, and a framework for controlling a group of TAMs such that the behavior of the group implements the model of the task. The TAM enables research on cooperative behaviors and complex tasks with simple, cost-effective robots such as the e-puck-research that would be difficult and costly to conduct using specialized robots or ad hoc task abstraction. We demonstrate how to abstract a complex task with multiple TAMs in an example scenario involving a swarm of e-puck robots.

关键词： informal science   communities of practice   acts of authentication   student talk   disciplinary engagement   robotics   scientific practice  

摘要： While the science classroom primarily remains a site for knowledge acquisition through teacher directed experiences, other sites exist outside of the classroom that allow for student generation of scientific knowledge. These sites provide opportunities for linguistic and social interactions to play a powerful role in situating students' science learning experiences. Augmenting students' formal school science experiences with informal experiences outside of the classroom enables them to intersect their personal knowledge with canonical disciplinary knowledge. This allows for conditions of practice that are more relevant to the students. In this study we introduce the notion of acts of authentication to examine the nature of students' linguistic and social activities in an informal settinga regional robotics competition. These acts of authentication are a) participating in talk (including everyday);b) participating in productive disciplinary engagement (by co-constructing and critiquing knowledge);and c) being a member of a community of practice. We used Critical Discourse Analysis to examine students' and mentor's dialogic language to gain insights into the nature of their robotics experiences. Our findings indicate that the robotics experience offered rich opportunities for students to engage in acts of authentication. Our study offers conceptual insights into how the culture of the robotics activities both constructs and is constructed by the linguistic and social experiences of the students and their mentors. (c) 2015 Wiley Periodicals, Inc. J Res Sci Teach 52: 268-295, 2015

关键词： Trajectories  

摘要： We describe our full body humanoid control approach developed for the simulation phase of the DARPA Robotics Challenge (DRC), as well as the modifications made for the DARPA Robotics Challenge Trials. We worked with the Boston Dynamics Atlas robot. Our approach was initially targeted at walking, and it consisted of two levels of optimization: a high-level trajectory optimizer that reasons about center of mass and swing foot trajectories, and a low-level controller that tracks those trajectories by solving floating base full body inverse dynamics using quadratic programming. This controller is capable of walking on rough terrain, and it also achieves long footsteps, fast walking speeds, and heel-strike and toe-off in simulation. During development of these and other whole body tasks on the physical robot, we introduced an additional optimization component in the low-level controller, namely an inverse kinematics controller. Modeling and torque measurement errors and hardware features of the Atlas robot led us to this three-part approach, which was applied to three tasks in the DRC Trials in December 2013.

关键词： Trials   human-made disaster   lessons learned   robotics   experimentation   Robot   master tool   Teaching   DARPA  

摘要： This article is a summary of the experiences of the Florida Institute for Human & Machine Cognition (IHMC) team during the DARPA Robotics Challenge (DRC) Trials. The primary goal of the DRC is to develop robots capable of assisting humans in responding to natural and manmade disasters. The robots are expected to use standard tools and equipment to accomplish the mission. The DRC Trials consisted of eight different challenges that tested robot mobility, manipulation, and control under degraded communications and time constraints. Team IHMC competed using the Atlas humanoid robot made by Boston Dynamics. We competed against 16 international teams and placed second in the competition. This article discusses the challenges we faced in transitioning from simulation to hardware. It also discusses the lessons learned both during the competition and in the months of preparation leading up to it. The lessons address the value of reliable hardware and solid software practices. They also cover effective approaches to bipedal walking and designing for human-robot teamwork. Lastly, the lessons present a philosophical discussion about choices related to designing robotic systems.

关键词： EEG signal processing   Wavelet transforms and authentication   Autonomous system security  

摘要： The world is seeing the emergence of brainwave computing and its application in our daily communication and security is on the horizon. One of the interesting areas of interaction modality is robotic environment where involvement of illegitimate users may cause severe threat to environment thereby, a continuous monitoring is mandatory. In this paper, we have presented a study of potential of brainwaves and their computing for providing higher security. This work utilizes EEG signal generated by visual stimuli for keying in the password. In order to construct a model for user authentication, we have selected the time-frequency analysis method called wavelet analysis to decompose original signal corresponding to EEG sub-band frequency, thereby extracting statistical measures and energy calculation of each decomposed waves. Furthermore, we have selected and employed the neural network based on learning vector quantization for correct classification. Classification rate has been calculated over the different combination of channels. (C) 2014 Elsevier B.V. All rights reserved.

关键词： Robots   Robotics   Feedback   Sensor networks   Optimal control   Errors   Stochastic processes   Chain   Approximation  

摘要： This tutorial paper presents the expositions of stochastic optimal feedback control theory and Bayesian spatiotemporal models in the context of robotics applications. The presented material is self-contained so that readers can grasp the most important concepts and acquire knowledge needed to jump-start their research. To facilitate this, we provide a series of educational examples from robotics and mobile sensor networks.

关键词： Meta-Analysis   Teams   Autonomy   Disproportionate Representation   Intelligent systems   simulating   DARPA   robotics   Trials   experimentation   design process  

摘要： The DARPA Robotics Challenge trials offer insights into how the robotics community approaches the design of intelligent systems and the role of supervision and simulation. A survey of the teams suggests that the design process may be hampered by the lack of a recognized canon of intelligent design principles and references and by the underrepresentation of artificial intelligence experts on the teams. The teams generally approached supervision and simulation as a fine-grained execution approval activity rather than as task rehearsal for the entire action sequence.

关键词： control ring   Disaster Response   Human   DARPA   Software architecture   robotics   Trials   experimentation   Humanoid robots  

摘要： The DARPA Robotics Challenge (DRC) requires teams to integrate mobility, manipulation, and perception to accomplish several disaster-response tasks. We describe our hardware choices and software architecture, which enable human-in-the-loop control of a 28 degree-of-freedom Atlas humanoid robot over a limited bandwidth link. We discuss our methods, results, and lessons learned for the DRC Trials tasks. The effectiveness of our system architecture was demonstrated as the WPI-CMU DRC Team scored 11 out of a possible 32 points, ranked seventh (out of 16) at the DRC Trials, and was selected as a finalist for the DRC Finals.