关键词： Auction-based robotic architecture   Intelligent action selection   Dynamic time and environmental constraints   Behavior-based robotics  

摘要： Service robots have the potential of improving the quality of life and assist with people's daily activities. Such robots must be capable of operating over long periods of time, performing multiple tasks, and scheduling them appropriately for execution. In addition, service robots must be capable of dealing with tasks whose goals may be in conflict with each other and would need to determine, dynamically, which task to pursue in such a case. Adding to the complexity of the problem is the fact that some task requests may have time constraints-deadlines by which the task has to be completed. Given the dynamic nature of the environment, the robots must make decisions on what tasks to pursue in situations where there could be incomplete or missing information. The robots should also be capable of accepting requests for new tasks or services at runtime, while possibly working on another task. In order to achieve these requirements, this paper presents the Auction Behavior-Based Robotic Architecture that brings the following contributions: (1) it uses an auction mechanism to determine the relevance of a task to run at any given time, (2) it handles multiple user requests while dealing with potentially critical time constraints and incomplete information, (3) it enables long-term robot operation and (4) it allows for dynamic assignment of new tasks. The proposed system is validated on a physical robotic platform, the Segway RMP (R) and in simulation.

关键词： ablation   automation   cardiac electrophysiology   efficacy and safety   electromagnetic   electromechanical   magnetic   mapping  

摘要： Robotic systems allow for mapping and ablation of different arrhythmia substrates replacing hand maneuvering of intracardiac catheters with machine steering. Currently there are four commercially available robotic systems. Niobe magnetic navigation system (Stereotaxis Inc., St Louis, MO) and Sensei robotic navigation system (Hansen Medical Inc., Mountain View, CA) have an established platform with at least 10 years of clinical studies looking at their efficacy and safety. AMIGO Remote Catheter System (Catheter Robotics, Inc., Mount Olive, NJ) and Catheter Guidance Control and Imaging (Magnetecs, Inglewood, CA) are in the earlier phases of implementations with ongoing feasibility and some limited clinical studies. This review discusses the advantages and limitations related to each existing system and highlights the ideal futuristic robotic system that may include the most promising features of the current ones.

关键词： Non-holonomic system   Dynamics   Motion planning   Trident snake  

摘要： The trident snake robot is a mechanical device that serves as a demanding testbed for motion planning and control algorithms of constrained non-holonomic systems. This paper provides the equations of motion and addresses the motion planning problem of the trident snake with dynamics, equipped with either active joints (undulatory locomotion) or active wheels (wheeled locomotion). Thanks to a partial feedback linearization of the dynamics model, the motion planning problem basically reduces to a constrained kinematic motion planning. Two kinds of constraints have been taken into account, ensuring the regularity of the feedback and the collision avoidance between the robot's arms and body. Following the guidelines of the endogenous configuration space approach, two Jacobian motion planning algorithms have been designed: the singularity robust Jacobian algorithm and the imbalanced Jacobian algorithm. Performance of these algorithms have been illustrated by computer simulations.

关键词： Algorithms   Applied mathematics   Computer and information sciences   Computerized simulations   Engineering and technology   Mathematics   Mechanical engineering   Physical sciences   Research Article   Robotics   Software design   Software engineering  

摘要： Embodied evolutionary robotics is a sub-field of evolutionary robotics that employs evolutionary algorithms on the robotic hardware itself, during the operational period, i.e., in an on-line fashion. This enables robotic systems that continuously adapt, and are therefore capable of (re-)adjusting themselves to previously unknown or dynamically changing conditions autonomously, without human oversight. This paper addresses one of the major challenges that such systems face, viz. that the robots must satisfy two sets of requirements. Firstly, they must continue to operate reliably in their environment (viability), and secondly they must competently perform user-specified tasks (usefulness). The solution we propose exploits the fact that evolutionary methods have two basic selection mechanisms-survivor selection and parent selection. This allows evolution to tackle the two sets of requirements separately: survivor selection is driven by the environment and parent selection is based on task-performance. This idea is elaborated in the Multi-Objective aNd open-Ended Evolution (MONEE) framework, which we experimentally validate. Experiments with robotic swarms of 100 simulated e-pucks show that MONEE does indeed promote task-driven behaviour without compromising environmental adaptation. We also investigate an extension of the parent selection process with a 'market mechanism' that can ensure equitable distribution of effort over multiple tasks, a particularly pressing issue if the environment promotes specialisation in single tasks.

关键词： ROBOTS -- Control systems   HUMAN-robot interaction   ROBOTICS   ARTIFICIAL muscles   BIOLOGICAL systems  

关键词： 水下机器人   水动力   动力学模型   参数辨识  

摘要： 以集中讨论水下机器人动力学建模和参数辨识方法、突出近年来取得的成就和未来的方向为主线,通过简要介绍水下机器人水动力性质与机器人几何外形之间的关系,给出基于牛顿-欧拉方程的6自由度动力学方程.经简化模型后给出需要辨识的模型参数.将参数辨识方法按经验法、试验法和计算流体动力学法进行分类,介绍各辨识方法的基本原理和目前相关研究现状,指出其优点和不足,展望水下机器人参数辨识方法的未来研究方向.

关键词： 多机器人   协同   ADAMS   相贯线  

摘要： 以松下TA1400型六轴工业机器人为研究对象,在ADAMS中建立多机器人协调运动仿真环境。通过设计绘制双贯线的辅助机构,仿真动作设计及仿真脚本编写,对三台机器人协同焊接双贯线进行动力学分析,求取各机器人各关节所需驱动力矩并测量角位移、角速度、角加速度曲线。经与采用末端牵引机器人运动测量的角位移、角速度、角加速度曲线比对分析,验证动力学分析正确性。

关键词： 跳跃机器人   两轮机器人   机构设计   动力学分析  

摘要： 为提高跳跃机器人运动的灵活性和实用性,通过将跳跃运动与轮式运动相结合,设计了一种新型的可跳跃式两轮机器人.跳跃运动由三杆弹簧跳跃机构实现,在大大减小机构尺寸的同时提高了能量利用率.详细介绍了机器人各机构的组成及工作原理,在此基础上,对机器人跳跃过程进行了动力学建模,分析了影响机器人跳跃能力的因素.为验证机械设计的有效性,利用ADAMS进行了机器人轮式移动与跳跃越障过程的仿真.搭建机器人控制系统并制作可跳跃式两轮机器人原理样机,最终跳跃实验结果证明了机器人设计的合理性以及理论分析的正确性.该跳跃机器人的能量利用效率接近70%,跳跃高度超过自身尺寸.

关键词： 起立机器人   康复训练   关节力与力矩   数学建模  

摘要： 设计了一种符合人体起立运动的辅助起立机器人,通过牛顿欧拉方程对人体起立过程动力学进行分析与建模,推导机器人辅助起立、上肢辅助起立和肌力不足下肢辅助起立3种情况下,人体力与力矩平衡方程,依据方程在Simulink中建立仿真模型,并使用传感器系统对起立机器人辅助人体起立过程中力与力矩进行测量分析.结果表明:不论采取何种辅助起立方法,辅助起立机器人都可有效辅助起立,特别是对起立初始阶段辅助效果尤为明显.上肢辅助起立时,既可保持身体平衡与稳定,又可补偿起立时所需力与力矩,在接近完全站立时这种效果尤为明显,仿真模型可预测站立过程的关节力与力矩.肌力不足下肢参与辅助起立时,所提供辅助力有限但也起到一定作用.

关键词： 仿人机器人   柔性铰链   柔性足   设计  

摘要： 针对仿人机器人行走在复杂路面时受到来自地面冲击力的问题,基于伪刚体模型的方法设计了一种多维柔性铰链。重点分析了多维柔性铰链在不同受力情况下的力-位移关系,得到了最大垂直位移及最大偏转角,将多维柔性铰链与波形弹簧及橡胶垫集成在一起,设计了一种柔性足部结构;利用SimMechanics模块对柔性足部系统进行了动力学建模与仿真,结果表明,所设计的足部机构缓冲位移大,可提高机器人行走时的稳定性和保护关节传动件;同时,足部缓冲时存储的能量释放速度快,有利于机器人高效持久的行走。