关键词： 仿人型机器人   机器人奥林匹克竞赛   机器人文化   示范演示系统  

摘要： 在回顾中国机器人足球的基础上提出社会机器人与机器人文化概念,论述支撑机器人文化的社会机器人发展策略及机器人文化的研发平台,即仿人型机器人奥林匹克竞赛系统,重点说明机器人奥林匹克竞赛的定义、意义以及比赛项目的分类方法;同时介绍哈工大机器人创新基地研究开发的机器人奥林匹克示范演示系统的总体构思,该系统将成为我国发展机器人文化的理想平台。

关键词： Soccer   technical analysis   performance assessment   robotics soccer   human soccer   game statistics  

摘要： Soccer is a team sport in which the performances of all team members are important for the outcome of a match. Even though the analysis of game events can be used to measure the team's performance, their perception, especially during the match, is extremely difficult, even for the involved agents. Soccer has been used as a simulation environment in many studies, mainly in the area of robotics. The RoboCup is an international robotics competition with an ambitious goal: in 2050 a robotics team will be capable of defeating the human world champion at the time. In this context, we compared technical similarities between human and robotics soccer. Based on an off-line automatic event detection tool, game statistics for the finals of both human and robotics soccer tournaments were collected and compared using the Wilcoxon test. The results show that the most frequent event in both forms of soccer is successful passes. Analysing the two types of passes considered (successful and missed), we conclude that there are significant differences between the two forms (W = 2, P = 0.000354), with human soccer presenting a higher percentage of successful passes (77.89% vs. 66.97%). Of restart events (W = 0, P = 0.00048965), the most frequent one, in both forms, is the throw-in (human 59.91%, robotics 66.4%), and the least frequent is the corner (human 13.7%, robotics 14.09%). Regarding the frequency of shots, in the robotics environment "shots" were the most predominant type (43.27%), whereas in human soccer "shots on target" predominated (71.25%;W = 64, P = 0.000085641). Finally, the number of faults is minor in robotics soccer.

关键词： Robot   actuator   twisted strings   kinematics   stiffness  

摘要： Robotic technology is widening its scope into applications where robots coexist with humans and other living beings in a common space, and where cooperative and other physical interactions between the robots and the living beings are anticipated and actually occur. Safety of living beings and of robots in such an environment calls for solutions in robot mechanisms that are different from the recently used ones in industrial robotics. In this paper we present an actuator named a Twist Drive, which uses two strings that by twisting on each other generate a pulling force. The mechanism can be used to replace gear reducers in robot joints with benefits that originate in its muscle-like operation and in its nonlinear characteristics. A mathematical model to describe the kinematic transmission characteristics of the mechanism is presented and compared to experimental data. A passive characteristic of kinematic stiffness is discussed and evaluated in the paper. Experimental results show the adequacy of the proposed models. Durability of commercially available strings was tested and the results reported. Application in a robot's joint is briefly presented by an example. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2012

摘要： Terrestrial organisms and robots are tasked with traversing complex environ- ments in ways that conventional wheeled vehicles are unable to accomplish, and do so by effectively deforming the appendages of their bodies. Jumping is a common mode of locomotion for various animals. It is used as a primary mode of locomotion, to reach higher places, for predation, and also as a survival mechanism. With the advent of robots designed with inspiration from nature's excellent jumpers, it is im- portant to understand the fundamental factors and mechanics that optimize jumping performance. Animals often amplify their jumping power with effective use of com- pliant structures by performing catapult jumps, squat jumps and countermovements. Certain animals utilize a variant of countermovement known as the stutter jump, where the jump is preceded by a small initial hop. Biologically inspired robots have taken a cue from nature to produce hopping gaits, catapults and squat jumps, yet systematic studies of the movement trajectories that maximize jumping performance are relatively scarce. This thesis presents a systematic study with a robotic jumping template based on a 1D variant of the spring-loaded inverted pendulum (SLIP) model of jumping to uncover the movement strategies for maximum height jumping when a catapult mechanism is unavailable. While more complex models exist that more closely de- scribe animal movement, we chose the simple SLIP model, which as of yet has only been used to describes gaits such as bouncing and running, because it allows us to di- rectly correlate aspects of jumping performance to underlying characteristics of such a system such as system resonance. The robot was a mass-spring arrangement with an actuated mass, which we oscillated sinusoidally. In concert with simulation, we systematically varied sinusoidal parameters of the command trajectory for robotic mass actuation to uncover which values provided the best jump performance. Our findings agree with

关键词： 腿型跳跃机器人   运动学   动力学   运动规划   起跳阶段  

摘要： 腿型跳跃机器人是机器人研究领域的一个前沿课题，其起跳过程是一个多变量、变约束、欠驱动、非线性的运动学和动力学耦合过程，这为其关节空间起跳运动控制问题的研究带来了很大的技术难度。本文以双关节腿型跳跃机器人为研究对象，对其起跳阶段进行了运动学和动力学分析，并研究了其在起跳阶段关节空间的运动规划问题。 首先，在分析各种腿型跳跃生物生理结构与运动特征的基础上，设计并制作出了一种由电机和弹簧耦合驱动的腿型跳跃机器人，并抽象建立了一种表达机器人结构参数的机构简化模型。将腿型跳跃机器人起跳阶段划分为站立相和欠驱动相，利用坐标系相对转动的方向余弦矩阵并结合矩阵运算法则，建立了机器人在起跳过程中各构件质心与总质心的位置、速度和加速度模型，揭示了机器人各质心空间运动与结构参数和关节空间运动之间的耦合关系。 其次，在腿型跳跃机器人运动学模型的基础上，通过质点系的达朗贝尔原理，建立了脚掌处地面反力的力学模型，并分析得到了机器人进入起跳欠驱动相的判断条件。考虑关节弹性和脚掌处地面反力的影响，分析了机器人在起跳阶段中的动能、势能和非保守广义力，采用Lagrange方法建立了机器人在起跳站立相和欠驱动相的动力学方程，并研究了腿型跳跃机器人起跳欠驱动相时脚尖处产生的二阶非线性运动约束。 再则，在机器人起跳阶段运动学和动力学研究的基础上，分析了机器人的起跳离地条件，得到了质心运动的边界值条件，采用可变四次多项式插值方法首先规划出了机器人的质心运动轨迹。从机器人质心空间的速度水平上进行了逆运动学分析，求解出了机器人起跳站立相关节空间的运动轨迹。当机器人处于起跳的欠驱动相时，在机器人质心空间的加速度水平上，将欠驱动相产生的动力学运动约束融入到了逆运动学求解过程中，完成了机器人在起跳欠驱动相关节空间的轨迹规划。 最后，依照规划出的关节空间运动轨迹，分别进行了虚拟样机和实物样机的起跳实验，将所得相关数据进行了分析和处理。实验现象和对比分析结果表明了机器人结构设计的合理性，验证了本文建立的相关运动学和动力学理论模型的正确性，说明了从质心空间的逆运动学角度进行机器人运动规划方法的可行性与实用性。 本论文的研究工作，对腿型跳跃机器人理论建模和运动控制具有一定的参考价值。

关键词： 2-PRS-PRRU并联机器人   动力学   虚功原理   惯性椭球  

摘要： 相比于传统的六自由度并联机器人，少自由度机器人具有结构、设计简单，制造、维护成本低等优势，尤其是[PP]S类并联机构，因其可实现两个转动自由度和一个移动自由度，具有较大的工业应用价值，引起了国际学术界和工业界的广泛关注。 本文主要研究2-PRS-PRRU并联机器人动力学分析，研究内容包括： 基于对机构自由度和位置正反解分析，依次分析PRS分支，PRRU分支各个构件的质心速度和角速度，最后建立了机构速度雅可比。 通过对各分支构件速度分析，建立动平台广义坐标与各构件质心速度、角速度的映射关系。依次对PRS分支，PRRU分支各构件进行主动力和惯性力的受力分析，采用虚功原理建立动力学模型。 基于对机构各构件质量和转动惯量引起的机构驱动力分析，提出一种简化策略，即忽略对机构驱动力影响较小由构件转动惯量引起的驱动力部分，采用虚功原理建立简化等效动力学模型。 以螺旋线刀具轨迹为实际算例对本文建立的2-PRS-PRRU并联机器人逆动力学模型进行数值仿真，并对比等效前后的驱动力数值仿真结果。通过与相同算例在ADAMS下的动力学仿真计算结果对比，验证了本文提出的逆动力学模型的正确性和准确性。 基于对奇异性和球铰约束的分析，确定2-PRS-PRRU并联机器人的摆动能力。然后建立笛卡尔质量惯性矩阵，作出广义惯性椭球，进而判断工作空间各点的动力学加速特性。 本文的研究工作为2-PRS-PRRU并联机器人的动态优化设计及动力学控制奠定了重要的理论基础。

关键词： 机器人竞赛   青少年   天津   中国   市政府  

摘要： 7月侣日．由中国科济和天津市政府共同主办的第十二届中国青少年机器人竞赛在天津开幕。

关键词： 柔索   并联机器人   动力学建模   仿真分析  

摘要： 柔索牵引并联机器人由于具有承载能力强、结构紧凑，工作空间大等优点而得到越来越广泛的应用。柔索牵引并联机器人在做大范围运动时会伴有低频振动，使得末端执行器很难准确定位，大大降低了运动精度。本文探讨了柔索牵引并联机器人在做大范围运动时柔索的弹性振动这一问题，并对索牵引并联机器人进行了运动学分析与动力学建模，结合虚拟样机技术对所建立的模型进行了动力学仿真与分析。 首先，介绍了用于摄像机平台的柔索牵引并联机器人的几何结构模型，并对三自由度柔索牵引并联机器人的运动学进行分析。其次，利用弹簧－质量模型模拟柔索，再根据实际的柔索牵引并联机器人模型参数，运用ADAMS动力学仿真软件建立理想的柔索牵引并联机器人虚拟模型。最后，仿真分析了模型在典型轨迹以及不同阻尼时，柔索的弹性振动对末端执行器运动轨迹的影响。

关键词： 科幻小说   传奇   科学工作者   机器人学   科普作家  

摘要： 如果你曾经看过电影《我，机器人》和《机器管家》，如果你知道“机器人学三定律”，那么你一定不会对艾萨克·阿西莫夫这个名字感到陌生。作为一名科学工作者、一名科幻小说家、一名科普作家，阿西莫夫成了引领许多人走上科学道路的引路者。他缔造了一个传奇的科幻帝国，构筑了一代又一代人的科幻梦。

关键词： 6自由度喷涂机器人   静力学   动力学   ADAMS  

摘要： 利用雅克比法建立喷涂机器人的静力学方程和采用Kane方法建立了关节坐标型6自由度的喷涂机器人动力学方程式,同时运用ADAMS建立了喷涂机器人的虚拟样机模型并且对喷涂机器人的动力学特性进行了仿真分析,所得仿真结果应用于关节驱动装置设计及动力学优化设计。