关键词： Humanoid Robot   Degrees-of-Freedom   Lagrangian Dynamics   Control  

摘要： Humanoid biped robots are typically complex in design, having numerous Degrees-of-Freedom (DOF) due to the ambitious goal of mimicking the human gait. The paper proposes a new architecture for a biped robot with seven DOF per each leg and one DOF corresponding to the toe joint. Furthermore, this work presents close equations for the forward and inverse kinematics by dividing the walking gait into the Sagittal and Frontal planes. This paper explains the mathematical model of the dynamics equations for the legs into the Sagittal and Frontal planes by further applying the principle of Lagrangian dynamics. Finally, a control approach using a PD control law with gravity compensation was recurred in order to control the desired trajectories and finding the required torque by the joints. The paper contains several simulations and numerical examples to prove the analytical results, using SimMechanics of MATLAB toolbox and SolidWorks to verify the analytical results.

关键词： Bioinstrumentation \u0026 Biosensors  

ISBN: (数字)9781118357989 ISBN: (纸本)9781119972495

摘要： Comprehensively covers the key technologies for the development of tactile perception in minimally invasive surgery Covering the timely topic of tactile sensing and display in minimally invasive and robotic surgery, this book comprehensively explores new techniques which could dramatically reduce the need for invasive procedures. The tools currently used in minimally invasive surgery (MIS) lack any sort of tactile sensing, significantly reducing the performance of these types of procedures. This book systematically explains the various technologies which the most prominent researchers have proposed to overcome the problem. Furthermore, the authors put forward their own findings, which have been published in recent patents and patent applications. These solutions offer original and creative means of surmounting the current drawbacks of MIS and robotic surgery. Key features:- Comprehensively covers topics of this ground-breaking technology including tactile sensing, force sensing, tactile display, PVDF fundamentals Describes the mechanisms, methods and sensors that measure and display kinaesthetic and tactile data between a surgical tool and tissue Written by authors at the cutting-edge of research into the area of tactile perception in minimally invasive surgery Provides key topic for academic researchers, graduate students as well as professionals working in the area

关键词： 弹跳机器人   闭链机构   动力学   起跳   动力学普遍方程  

摘要： 设计了一种可用于非结构环境的弹跳机器人,该机器人采用非对称齿轮-六杆闭链机构作为弹跳机构.为分析机器人的跳跃运动,对机器人起跳阶段的动力学进行研究.首先采用矢量闭环方法建立机器人起跳阶段的位置、速度和加速度方程,然后根据动力学普遍方程推导出动力学理论模型.在此基础上,利用Matlab对动力学方程进行数值求解,利用研制的原理样机进行弹跳试验.试验结果表明:理论值和试验结果较为符合,验证了起跳阶段动力学建模及数值分析的有效性.

关键词： 家用吸尘机器人   竞赛策略   运动路线  

摘要： 基于"广茂达"吸尘机器人,提出了一种比赛策略。从"上平台前"、"在平台上"、"下平台后"三个运动阶段来阐述机器人行动路线及策略设计。该策略驱动的机器人最终获得了2011第四届江苏省大学生机器人大赛家用吸尘组一等奖。

关键词： 机器人竞赛   北京市   挑战赛   能力   活动中心   儿童中心   培训班   教练员  

摘要： 10月21日，第13届北京青少年机器人竞赛启动仪式暨教练员培训班在北京科技活动中心举办，来自北京市16个区县、中国儿童中心及市科技馆共18家单位的领队、教练员和裁判员约150人参加了培训。

关键词： 奥林匹克竞赛   机器人   中国区   兰州市   世界   中学生   实验学校   阿联酋  

摘要： 在2012世界机器人奥林匹克竞赛（WR0）中国区选拔赛中，兰州市华侨实验学校队夺得冠军，这是继去年该校机器人团队获得WRO中国区冠军、代表中国出征阿联酋第八届世界机器人奥林匹克竞赛后，又一次获得的殊荣。

关键词： 人类生活   机器人   青少年   竞赛   科技   生活理念   生活习惯   生活方式  

摘要： 未来是怎样的？比尔·盖茨曾预测说，家家都会有机器人。继电脑之后，机器人将渗透到人类生活的方方面面，改变我们的生活理念、生活方式和生活习惯。作为未来的主人，我们一起到第十二届青少年机器人大赛的现场去感受一下机器人。

关键词： 机器人竞赛   实训平台   方案研究  

摘要： 机器人竞赛普遍开展各类院校以锻炼学生的思维能力、创造能力、合作能力等。此实训平台的研发是实现通过数百个基本"积木"单元的组合,搭建出各种发挥想象力的机器人,并可为自己搭建出的机器人编程,为学生提供一个基础又灵活多变的实验平台。

关键词： dynamics   full measure   Robot Manipulator   Indefinite   Control Theory   Idempotent   Modeling  

摘要： The analytic model of the dynamics of a robot-manipulator is obtained in the infinitely indefinite dynamic and completely observable exterior medium. The unboundedness property of indefiniteness most exactly accounts for the unpredictability of the real world, in which most of the moving objects of the technical nature have to function, and considerably complicates the problem of modeling because in this case the results of the classical theory of control are inapplicable in full measure. In this work an alternative approach to the modeling is developed on the basis of idempotent mathematics, which differs from the known approaches by the possibility of representing a model in the explicit analytic form.

摘要： The article reports on the reluctance of the majority of process companies in Great Britain to invest in robotics. British Automation and Robot Association (BARA) chairman Mike Wilson asserts that non-automotive sectors do not understand the potential implications of not investing in automation and robotics. Wilson further cites the automation efforts in other countries to sustain competitive advantage.