关键词： 四足机器人   稳定性   动力学   运动学   虚功原理   关节驱动力   优化   冗余驱动  

摘要： 动力学分析是机器人评估运动性能以及实施运动控制的关键,由于四足爬壁机器人的多运动链结构和闭链约束,运动学分析较为困难。为此,本文提出以虚功原理求解四足磁吸附爬壁机器人的稳定性与动力学。求解动力学方程,利用优化理论设计驱动力二次规划方法,通过最小功率原则计算关节驱动力,并验证其合理性。设计仿真实验,通过PID控制,采用Matlab与ADAMS联合仿真。仿真结果表明:该控制方案具有较高的跟踪性能和控制精度,负载在350 N及以下时,机器人不会发生滑移,并验证了冗余驱动下驱动力求解的正确性。

关键词： Energy efficiency   Design for low carbon footprint   Underactuated robotics   Kinematics analysis   Sustainable manufacturing  

摘要： As the energy efficiency is a worldwide topic for sustainability in sustainable manufacturing, the industry ought to undertake the responsibility in a low energy manner. For energy efficiency, this paper proposed a novel lightweight non-holonomic spherical underactuated robot (NSUR) with lower energy consumption and fewer actuators than traditional robotics. The kinematics of a robot refers to the motion analysis, such as coordinates, velocity, and acceleration. However, current researches always focus on the holonomic full-actuated robot. This paper is devoted to a kind of novel NSUR and its theoretical kinematics analysis model. After NSUR was introduced, the kinematic representation of NSUR was discussed. A pair inverse and forward kinematics analysis of NSUR was put forward in detail. The kinematic analysis of joint of underactuated robot, as the application of NSUR, is applied to explain and verify this methodology. The measurements and comparisons of energy efficiency between NSUR and traditional robotics are also derived in detail.

关键词： 机器人学  

ISBN: (纸本)9787302598220

摘要： 本书介绍了机器人学的基本原理及其应用，共10章，内容涉及机器人学的概况，数理基础、运动学、动力学、位置和力控制、高级控制、传感器、机器人规划、程序设计和展望等。

关键词： Human robot interaction  

摘要： Extended reality (XR), which combines the real and virtual worlds, is greatly enhancing interaction possibilities between robots and humans, leading to a paradigm shift where the two entities can intuitively cooperate to perform shared-target tasks. Many XR devices are essentially performing the same spatial perception tasks as mobile robots (e.g., visual simultaneous localization and mapping), and thus XR provides an opportunity for robots and the humans using these devices to colocalize through a common understanding of their space, which also enables easier human–robot interactions.

关键词： biotemplating   microfabrication   microrobots   metal-organic frameworks  

摘要： Biotemplating is a powerful approach for manufacturing small-scale devices. Here, the assembly of metal-organic framework (MOF) nanocrystals onto biotemplated magnetic helical structures on the cyanobacterium Spirulina platensis is reported. It is demonstrated that the authors' approach is universal and can be used to equip biotemplated structures with different functional MOF systems. The successful assembly of MOF nanocrystals on magnetically coated helical biotemplates is achieved by decorating the magnetic surface with gelatin, a naturally occurring macromolecule with synthon moieties that allows anchoring of the MOF nanocrystals via electrostatic interactions. Furthermore, as gelatin is a thermally responsive material, it can serve to free the magnetic biotemplates from the MOF nanocrystal cargoes. As such, the systems can be used as highly integrated magnetically driven microrobots with multiple functionalities. To this end, the potential of these composite helical architectures is demonstrated as MOF-based small-scale robots with applications in biomedicine and environmental remediation.

摘要： 89

关键词： Uncertainty   Robots   Robust control   Control systems   Stability analysis   Legged locomotion   Lyapunov methods   Optimal control   quadratic programming   robust control   robot control  

摘要： We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems in the presence of model uncertainty. The proposed method formulates robust control Lyapunov and barrier functions to provide guarantees of stability and safety in the presence of model uncertainty. We evaluate our proposed control design on dynamic walking of a five-link planar bipedal robot subject to contact force constraints as well as safety-critical precise foot placements on stepping stones, all while subject to model uncertainty. We conduct preliminary experimental validation of the proposed controller on a rectilinear spring-cart system under different types of model uncertainty and perturbations.

关键词： Sustainable development  

摘要： The development and deployment of robotic technologies can have an important role in efforts to achieve the United Nations’ (UN) Sustainable Development Goals (SDGs)—with both enabling and inhibiting impacts. During a workshop at the 2021 IEEE/Robotics Society of Japan International Conference on Intelligent Robots and Systems (IROS 2021), experts from various disciplines analyzed the role of robotics in achieving the SDGs. This article provides a summary of the most important outcomes of the workshop. During the workshop panels, the variety of roles that robots can play in enabling the SDGs was underlined. The panelists discussed the challenges to the adoption of robots and to their deployment at their full potential. The probable undesirable effects of robots were also considered, and the panelists suggested approaches to correctly design SDG-relevant robotic solutions. Governance frameworks were also discussed, with respect to their contents as well as the challenges to build them. The role of military funding was briefly analyzed. Finally, several proposals for actions and policies were made. The contents of the workshop, including contributing papers and videos from the panelists, as well as additional information about future initiatives regarding robotics and the SDGs, are available at ***.

关键词： robotic competitions   challenges   evaluation   benchmarking   robotic applications  

摘要： This paper presents a systematic mapping literature review about the mobile robotics competitions that took place over the last few decades in order to obtain an overview of the main objectives, target public, challenges, technologies used and final application area to show how these competitions have been contributing to education. In the review we found 673 papers from 5 different databases and at the end of the process, 75 papers were classified to extract all the relevant information using the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) method. More than 50 mobile robotics competitions were found and it was possible to analyze most of the competitions in detail in order to answer the research questions, finding the main goals, target public, challenges, technologies and application area, mainly in education.

摘要： Reports on the RAS society 2022-2023 President-Elect.