关键词： Mobile robots   COMPUTERS / Computer Graphics  

ISBN: (纸本)9781107031159

摘要： "Mobile Robotics offers comprehensive coverage of the essentials of the field suitable for both students and practitioners. Adapted from Alonzo Kelly's graduate and undergraduate courses, the content of the book reflects current approaches to developing effective mobile robots. Professor Kelly adapts principles and techniques from the fields of mathematics, physics and numerical methods to present a consistent framework in a notation that facilitates learning and highlights relationships between topics. This text was developed specifically to be accessible to senior level undergraduates in engineering and computer science, and includes supporting exercises to reinforce the lessons of each section. Practitioners will value Kelly's perspectives on practical applications of these principles. Complex subjects are reduced to implementable algorithms extracted from real systems wherever possible, to enhance the real-world relevance of the text"--

关键词： Robot programming by demonstration   Robot facial displays   Emotion expression   Interaction dynamics   Incremental learning  

摘要： In this paper we focus on human-robot interaction peculiarities that occur during programming by demonstration. Understanding what makes the interaction rewarding and keeps the user engaged helps optimize the robot's learning. Two user studies are presented. The first one validates facially displayed expressions on the iCub robot. The best recognized displays are then used in a second study, along with other ways of providing feedback during teaching a manipulation task to a robot. We determine the preferred and more effective way of providing feedback in relation to the robot's tactile sensing, in order to improve the teaching interaction and to keep the users engaged throughout the interaction.

关键词： Biped Robot   Running on Water   Dynamic Analysis   Fluid-Structure Interaction  

摘要： A kinematics analysis of a biologically-nspired biped robot is carried out, and the trajectory of the robot foot is understood. For calculating the pressure distribution across a robot foot before touching the surface of water, the compression flow of air and the depression motion of the water surface are considered. The pressure model after touching the water surface has been built according to the theory of rigid body planar motion. The multi- material ALE algorithm is applied to emulate the course of the foot slapping water. The simulation results indicate that the model of the bionic robot can satisfy the water- running function. The real prototype of the robot is manufactured to test its function of running on water. When the biped robot is running on water, the average force generated by the propulsion mechanism is about 1.3N. The experimental results show that the propulsion system can satisfy the requirement of biped robot running on water.

关键词： 旋量   可重构轮手一体机器人   越障   动力学  

摘要： 为研究可重构轮手一体机器人的越障性能,描述了机器人轮手复合越障过程,基于旋量理论建立了单模块可重构轮手一体移动机器人翻越台阶型障碍的动力学模型。对影响机器人电机力矩的三个因素——台阶高度、手臂长度和机器人运动参数进行了仿真,对越障过程中的稳定性进行了分析,得到了机器人的稳定工作域,最后通过实验得到机器人极限越障高度,为机器人结构的优化和越障性能的提升提供了理论依据。

关键词： 移动焊接机器人   轨迹跟踪   动力学  

摘要： 焊缝跟踪的高精度要求使得跟踪系统动力学问题愈加突出.建立了移动焊接机器人具有非完整力学系统形式的动力学模型,并设计了基于移动焊接机器人动力学和十字滑块协调控制的滑模变结构控制器,考虑了焊接机器人的惯性、电机动力学、工件表面不平度等因素对跟踪精度的影响.理论分析和系统仿真证明了动力学模型和滑模变结构控制算法在焊缝轨迹跟踪中的正确性和有效性.为智能控制方法在移动焊接机器人中离线编程、仿真和动态控制奠定了重要基础.

关键词： 关节式   平行四边形原理   运动学分析   动力学仿真  

摘要： 针对码垛机器人的空间运动学和动力学特点,提出了基于平行4边形机构运动原理构建关节回转型4自由度码垛机器人的一种设计方法。根据D-H法建立关节回转型4自由度机器人运动学方程,解出运动学方程的反解;采用牛顿-欧拉递推法推导机器人的动力学方程,利用MATLAB计算出驱动力矩;将模型导入ADAMS软件中,对该机构进行动力学仿真;通过仿真结果与理论计算值的对比,验证了该设计方法的正确性,为机器人的控制和选择合适的驱动系统提供了有效的依据。

关键词： 自动控制技术   球形机器人   爬坡能力   连杆爬坡机构  

摘要： 针对目前球形机器人爬坡能力不足的问题,提出了一种具有连杆爬坡机构的新型球形机器人设计方案。该球形机器人除了传统的重摆行走方式之外,还可以利用连杆机构爬陡坡。建立了机器人利用连杆机构爬坡的力学模型,并用仿真软件分别进行了新旧球形机器人的爬坡运动仿真,验证了力学模型的正确性。在此基础上,对影响新机构爬坡能力的参数进行分析与优化,以此为理论依据设计制造出了具有两种运动模式的BYQ-X球形机器人样机。并对此样机进行了爬坡运动实验,通过样机实验进一步验证了力学模型的正确性和连杆爬坡机构对增加球形机器人爬坡能力的有效性。

关键词： 膝关节   动力学   PID控制   传递函数   仿真  

摘要： 康复训练机器人技术是一种把机器人技术应用于康复训练的机电设备.下肢康复机器人是其中一种,在多环境运动平台的配合下,该机器人能模拟出正常人的步态,帮助病人按照正常的步态行走,形成良好的条件发射,进而不断刺激病人大脑中枢神经,达到行走康复目的.由于外骨骼服务对象的特殊性,对下肢康复机器人膝关节控制系统提出了更高的要求,通过建立下肢康复机器人膝关节动力学的数学模型解出其控制系统的传递函数,并在控制系统中加入PID控制器.通过MATLAB对下肢康复机器人膝关节控制系统进行仿真,使下肢康复机器人控制系统能够达到响应速度快和稳定性高的要求.

关键词： Space robots   Mobile robotic systems   Dynamics modelling   Rigid-flexible multi-body systems   Cooperative object manipulation  

摘要： Dynamics modelling and control of multi-body space robotic systems composed of rigid and flexible elements is elaborated here. Control of such systems is highly complicated due to severe under-actuated condition caused by flexible elements, and an inherent uneven nonlinear dynamics. Therefore, developing a compact dynamics model with the requirement of limited computations is extremely useful for controller design, also to develop simulation studies in support of design improvement, and finally for practical implementations. In this paper, the Rigid-Flexible Interactive dynamics Modelling (RFIM) approach is introduced as a combination of Lagrange and Newton-Euler methods, in which the motion equations of rigid and flexible members are separately developed in an explicit closed form. These equations are then assembled and solved simultaneously at each time step by considering the mutual interaction and constraint forces. The proposed approach yields a compact model rather than common accumulation approach that leads to a massive set of equations in which the dynamics of flexible elements is united with the dynamics equations of rigid members. To reveal such merits of this new approach, a Hybrid Suppression Control (HSC) for a cooperative object manipulation task will be proposed, and applied to usual space systems. A Wheeled Mobile Robotic (WMR) system with flexible appendages as a typical space rover is considered which contains a rigid main body equipped with two manipulating arms and two flexible solar panels, and next a Space Free Flying Robotic system (SFFR) with flexible members is studied. Modelling verification of these complicated systems is vigorously performed using ANSYS and ADAMS programs, while the limited computations of RFIM approach provides an efficient tool for the proposed controller design. Furthermore, it will be shown that the vibrations of the flexible solar panels results in disturbing forces on the base which may produce undesirable errors a

关键词： Salamander   Locomotion   Oscillators   Modeling   Neurobiology   Robotics  

摘要： Vertebrate animals exhibit impressive locomotor skills. These locomotor skills are due to the complex interactions between the environment, the musculo-skeletal system and the central nervous system, in particular the spinal locomotor circuits. We are interested in decoding these interactions in the salamander, a key animal from an evolutionary point of view. It exhibits both swimming and stepping gaits and is faced with the problem of producing efficient propulsive forces using the same musculo-skeletal system in two environments with significant physical differences in density, viscosity and gravitational load. Yet its nervous system remains comparatively simple. Our approach is based on a combination of neurophysiological experiments, numerical modeling at different levels of abstraction, and robotic validation using an amphibious salamander-like robot. This article reviews the current state of our knowledge on salamander locomotion control, and presents how our approach has allowed us to obtain a first conceptual model of the salamander spinal locomotor networks. The model suggests that the salamander locomotor circuit can be seen as a lamprey-like circuit controlling axial movements of the trunk and tail, extended by specialized oscillatory centers controlling limb movements. The interplay between the two types of circuits determines the mode of locomotion under the influence of sensory feedback and descending drive, with stepping gaits at low drive, and swimming at high drive.