关键词： 跳跃机器人   浮动基   动力学模型  

摘要： 研究了平面腿型跳跃机器人浮动基动力学模型的建立、仿真及试验问题.将跳跃机器人模型抽象成由三根均质连杆组成的平面跳跃机构,建立3个坐标系研究跳跃运动的变约束性.分别对支撑相和腾空相的运动模型进行分析,建立了Lagrange动力学方程.由于支撑相足尖与地面满足Pfaffian约束,因此将机器人足尖平移坐标与关节变量统一作为广义坐标,建立显含力约束的跳跃机器人浮动基动力学模型.确定跳跃运动约束方程和相互识别条件.通过仿真和样机试验说明了跳跃机器人浮动基动力学模型的正确性.

关键词： 机器人   教育   竞赛   高校  

摘要： 对国内外机器人竞赛的现状、特点以及功能进行了分析,提出我国高校的机器人教育应以开展高水平的机器人竞赛为契机,有针对性地调整和改革现行的机器人教育教学,以推动我国机器人事业的发展.

关键词： 机器人竞赛   教学   应用型人才  

摘要： 机器人技术是一门跨专业、高度综合的新兴学科,是培养学生综合应用能力和开展素质教育的良好载体。本文重点介绍了我校以机器人社团作为基础培训的教学竞赛一体化的培养体系和培养方法,并总结了该培养体系和培养方法的应用情况。经过两年多的教学竞赛实践,取得了较好的成效。

关键词： Symbol grounding   Abstract language   Computational modelling   Recurrent neural network   Developmental cognitive robotics  

摘要： In this paper we present a neuro-robotic model that uses artificial neural networks for investigating the relations between the development of symbol manipulation capabilities and of sensorimotor knowledge in the humanoid robot iCub. We describe a cognitive robotics model in which the linguistic input provided by the experimenter guides the autonomous organization of the robot's knowledge. In this model, sequences of linguistic inputs lead to the development of higher-order concepts grounded on basic concepts and actions. In particular, we show that higher-order symbolic representations can be indirectly grounded in action primitives directly grounded in sensorimotor experiences. The use of recurrent neural network also permits the learning of higher-order concepts based on temporal sequences of action primitives. Hence, the meaning of a higher-order concept is obtained through the combination of basic sensorimotor knowledge. We argue that such a hierarchical organization of concepts can be a possible account for the acquisition of abstract words in cognitive robots. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Robotic surgery   Microsurgery   Hand surgery   Breast reconstruction   Oropharyngeal surgery   Free flaps  

摘要： Robotic surgery is an emerging technology that is conquering the surgery field by storm. It has found solid applications in general surgery, gynecological surgery, vascular surgery, and especially in urology and cardiothoracic surgery. Its application is however restricted in the various fields of plastic surgery. There is no doubt that robots have a potential to become an important toll in reconstructive plastic surgery, but the extent of their use in aesthetic surgery is constrained. A review of the literature showed that several centers are currently using surgical robots for reconstructive and microsurgery. Robotic surgery is feasible and technically advantageous, though very costly. There is a paucity of data however concerning the long-term benefits of robotics versus conventional techniques, and none regarding aesthetic surgery applications. We strongly believe that, without ignoring the tremendous potential benefits of robotic technology in many fields of plastic surgery, no machine, no matter how sophisticated it is, will ever succeed at replacing the artistic sense, feeling, and touch necessary to achieve beauty with harmonious proportions.

关键词： Surgical robot   Minimally invasive surgery   Surgical user interface  

摘要： As surgical robots begin to occupy a larger place in operating rooms around the world, continued innovation is necessary to improve our outcomes. A comprehensive review of current surgical robotic user interfaces was performed to describe the modern surgical platforms, identify the benefits, and address the issues of feedback and limitations of visualization. Most robots currently used in surgery employ a master/slave relationship, with the surgeon seated at a work-console, manipulating the master system and visualizing the operation on a video screen. Although enormous strides have been made to advance current technology to the point of clinical use, limitations still exist. A lack of haptic feedback to the surgeon and the inability of the surgeon to be stationed at the operating table are the most notable examples. The future of robotic surgery sees a marked increase in the visualization technologies used in the operating room, as well as in the robots' abilities to convey haptic feedback to the surgeon. This will allow unparalleled sensation for the surgeon and almost eliminate inadvertent tissue contact and injury. A novel design for a user interface will allow the surgeon to have access to the patient bedside, remaining sterile throughout the procedure, employ a head-mounted three-dimensional visualization system, and allow the most intuitive master manipulation of the slave robot to date.

关键词： Robotics   Occupational therapy management   Assistive technology   Pediatric neuromuscular diseases  

摘要： This article presents an overview of occupational therapy assessments and treatment options for individuals with neuromuscular disabilities, with a particular focus on children with neuromuscular disorders. The discussion includes descriptions of standard treatments, commercial adaptive equipment, and homemade adaptive solutions. The state of the art in therapeutic and assistive robots and orthoses for the upper and lower extremity is also provided.

关键词： Spike-timing-dependent plasticity   spiking neuron   bio-inspired robotics   classical conditioning  

摘要： This work investigates adaptive behaviours for an intelligent robotic agent when subjected to temporal stimuli consisting of associations of contextual cues and simple reflexes. This is made possible thanks to a novel learning rule based on spike-timing-dependent plasticity and embedded in an artificial spiking neural network serving as a brain-like controller. The subsequent bio-inspired cognitive system carries out different classical conditioning tasks in a controlled virtual 3D-world while the timing and frequency of unconditioned and conditioned parameters are varied. The results of this simulated robotic environment are analysed at different stages from stimuli capture to neural spike generation and show extended behavioural capabilities by the robot in the temporal domain.

关键词： Topological mapping   Graph matching   Visual features   Robotics  

摘要： A key problem in robotics is the construction of a map from its environment. This map could be used in different tasks, like localization, recognition, obstacle avoidance, etc. Besides, the simultaneous location and mapping (SLAM) problem has had a lot of interest in the robotics community. This paper presents a new method for visual mapping, using topological instead of metric information. For that purpose, we propose prior image segmentation into regions in order to group the extracted invariant features in a graph so that each graph defines a single region of the image. Although others methods have been proposed for visual SLAM, our method is complete, in the sense that it makes all the process: it presents a new method for image matching; it defines a way to build the topological map; and it also defines a matching criterion for loop-closing. The matching process will take into account visual features and their structure using the graph transformation matching (GTM) algorithm, which allows us to process the matching and to remove out the outliers. Then, using this image comparison method, we propose an algorithm for constructing topological maps. During the experimentation phase, we will test the robustness of the method and its ability constructing topological maps. We have also introduced new hysteresis behavior in order to solve some problems found building the graph.

关键词： Java教学   机器人竞赛   合作式学习  

摘要： 该文首先分析了Java编程实训教学存在的问题,其次阐述了基于"机器人"项目的Java编程实训教学模式的特点、目的和影响,然后结合本校近年来的具体实践以及参加飞思卡尔智能车竞赛的情况,探讨了基于机器人项目的Java编程实训教学对驱动软件技术专业创新人才的培养作用。