关键词： Robotics   planetary exploration   bio-inspired robot   jumping robot   hopping robot   dynamics  

摘要： A small, bio-inspired and minimally actuated intermittent hopping robot for planetary surface exploration is proposed in this paper. The robot uses a combined-geared six-bar linkage/spring mechanism, which has a possible rich trajectory and metamorphic characteristics and, due to this, the robot is able to recharge, lock/release and jump by using just a micro-power motor as the actuator. Since the robotic system has a closed-chain structure and employs underactuated redundant motion, the constrained multi-body dynamics are derived with time-varying driving parameters and ground unilateral constraint both taken into consideration. In addition, the established dynamics equations, mixed of higher order differential and algebraic expressions, are solved by the immediate integration algorithm. A prototype is implemented and experiments are carried out. The results show that the robot, using a micro-power motor as the actuator and solar cells as the power supply, can achieve a biomimetic multi-body hopping stance and a nonlinearly increasing driving force. Typically, the robot can jump a horizontal distance of about 1 m and a vertical height of about 0.3 m, with its trunk and foot moving stably during takeoff. In addition, the computational and experimental results are consistent as regards the hopping performance of the robot, which suggests that the proposed dynamics model and its solution have general applicability to motion prediction and the performance analysis of intermittent hopping robots.

关键词： 冗余驱动并联机器人   ADAMS   驱动力优化   动力学仿真  

摘要： 为使机器人具有良好的结构性能和工作性能,其结构系统必须具有良好的动力学特性.针对动力学特性问题,以ADAMS仿真软件为平台建立了简化的二自由度冗余驱动并联机器人模型,求出了运动学逆解,采用冗余驱动力控制电机的方法,完成了动力学仿真.结果表明该方法能减小驱动力变化范围和降低驱动力峰值,优化电机驱动力,提高并联机器人的驱动性能.研究所得的方法和结论具有较强的通用性,对相关冗余驱动并联机器人的动力学研究具有普遍的应用意义,同时为并联机器人的调试与控制提供了理论依据.

关键词： 《机器人学》   工程教学法   视觉运动平台  

摘要： 针对当前本科生《机器人学》课程理论与实践教学效果差的情况,探索实践教学的改革与创新,提出了基于视觉运动平台的项目实践及与理论创新相结合的工程教学理念,提高了学生学习《机器人学》课程的兴趣,发挥了学生的主动性和创新能力,使得课程教学效果得到了提高,实现了教学目的。

关键词： 自治水下机器人   生物启发模型   运动控制   全局渐近稳定  

摘要： 本文提出一种生物启发神经动力学模型的自治水下机器人(autonomous underwater vehicles,AUV)三维轨迹跟踪控制算法.将AUV在三维空间的运动分为水平面运动和垂直面运动,针对传统反步轨迹跟踪控制器出现的速度跳变问题,采用生物启发神经动力学模型,通过构造一种简单的中间虚拟变量,同时结合Lyapunov函数设计出轨迹跟踪控制律,使其控制效果在水平面和垂直面都能够达到全局渐近稳定并且有平滑连续的输出结果,克服AUV反步轨迹跟踪控制的速度跳变问题.仿真结果证明了所提控制律的有效性.

关键词： 机器人竞赛   实验学校   湖南师大   赛中   学生   天津市   青少年   初中  

摘要： 本刊讯2012年7月16-20日，第二届中国青少年机器人竞赛在天津市举行，共有来自全国各地的40支初中代表队参赛。湖南师大附中博才实验学校杨天诚、雷石林、

关键词： Robotics   Automation   Investments  

摘要： The author presents his views regarding the unwillingness of companies to invest in automation and robotics.

关键词： Robotic   Surgery   Gynecology   Benign pathology   Oncology  

摘要： Robot-assisted laparoscopic gynecologic surgery has undergone widespread development in recent years. The surgical literature on this subject continues to grow. The goal of this article is to summarize the principal indications for robotic assistance in gynecologic surgery and to offer a general overview of the principal articles dealing with robotic surgery for both benign and malignant disease. (C) 2012 Elsevier Masson SAS. All rights reserved.

关键词： Embodiment   emotion   reconfiguration   morphology   dynamical systems  

摘要： In this conceptual paper, we discuss two areas of research in robotics, robotic models of emotion and morphofunctional machines, and we explore the scope for potential cross-fertilization between them. We shift the focus in robot models of emotion from information-theoretic aspects of appraisal to the interactive significance of bodily dispositions. Typical emotional phenomena such as arousal and action readiness can be interpreted as morphofunctional processes, and their functionality may be replicated in robotic systems with morphologies that can be modulated for real-time adaptation. We investigate the control requirements for such systems, and present a possible bio-inspired architecture, based on the division of control between neural and endocrine systems in humans and animals. We suggest that emotional episodes can be understood as emergent from the coordination of action control and action-readiness, respectively. This stress on morphology complements existing research on the information-theoretic aspects of emotion.

关键词： Robots -- Evaluation   Food processing machinery  

摘要： The article evaluates the Weber Pick Robot (WPR).