关键词： affordance   traversability   range image   perception   learning   autonomous robots  

摘要： The concept of affordances, introduced in psychology by J. J. Gibson, has recently attracted interest in the development of cognitive systems in autonomous robotics. In earlier work (Sahin, Cakmak, Dogar, Ugur, & Ucoluk), we reviewed the uses of this concept in different fields and proposed a formalism to use affordances at different levels of robot control. In this article, we first review studies in ecological psychology on the learning and perception of traversability in organisms and describe how the existence of traversability was judged to exist. We then describe the implementation of one part of the affordance formalism for the learning and perception of traversability affordances on a mobile robot equipped with range sensing ability. Through experiments inspired by ecological psychology, we show that the robot, by interacting with its environment, can learn to perceive the traversability affordances. Moreover, we claim that three of the main attributes that are commonly associated with affordances, that is, affordances being relative to the environment, providing perceptual economy, and providing general information, are simply consequences of learning from the interactions of the robot with the environment.

关键词： GUI   off-line programming   simulation   visualization   robot dynamics   industrial robots  

摘要： A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator's dynamics based on Langrange-Euler and Newton-Euler formulations. Since most of the industrial robot manipulators are produced with six degrees of freedom (DOE) such as the PUMA 560, the Fanuc ArcMate 1 20iB and Stanford Arm, the library of the toolbox includes sixteen fundamental 6-DOF robot manipulators with Euler wrist. The software can be used to interactively perform robotics analysis and off-line programming of robot dynamics such as forward and inverse dynamics as well as to interactively teach and simulate the basic principles of robot dynamics in a very realistic way. In order to demonstrate the user-friendly features of the toolbox much better, simulation of the NS robot manipulator (Stanford Arm) is provided as an example. (C) 2009 Wiley Periodicals. Inc. Comm Appl Eng Educ 18: 319-330. 2010: Published online in Wiley InterScience (***);DOI 10.1002/cae.20262

关键词： Robotics   Rehabilitation   Assistive Devices   Disabled Persons  

摘要： Robotic assistive devices are used increasingly to improve the independence and quality of life of persons with disabilities. Devices as varied as robotic feeders, smart-powered wheelchairs, independent mobile robots, and socially assistive robots are becoming more clinically relevant. There is a growing importance for the rehabilitation professional to be aware of available systems and ongoing research efforts. The aim of this article is to describe the advances in assistive robotics that are relevant to professionals serving persons with disabilities. This review breaks down relevant advances into categories of Assistive Robotic Systems, User Interfaces and Control Systems, Sensory and Feedback Systems, and User Perspectives. An understanding of the direction that assistive robotics is taking is important for the clinician and researcher alike;this review is intended to address this need.

关键词： Comment   senses   Action   Humanoid   robotics   Humanoid robots   Language   Perception  

关键词： cervical cancer   exenteration   robotic-assisted laparoscopy  

摘要： Pelvic exenteration can be used to cure women with a central pelvic recurrence or persistence of gynecologic malignancy after initial definitive therapy. Refinements in patient selection, operative techniques, and surgical instrumentation have significantly improved outcomes over the past 60 years, but the procedure is still associated with significant mortality, morbidity, and recovery time. New technologies have made it possible to approach radical gynecologic surgeries in a minimally invasive fashion. We present 2 patients successfully treated with robotic-assisted anterior pelvic exenteration for treatment of persistent or recurrent cervical cancer after definitive radiotherapy.

关键词： 空间机器人   关节驱动力矩   计算机仿真  

摘要： 分析了自由飞行空间机器人(FFSR)的速度和加速度的关系,推导出两个自由飞行空间机器人(FFSR)协调操作的动力学方程以及各机械臂的关节驱动力矩的计算方法。提出了基于机器人广义雅可比矩阵(GJM)实现对机械臂关节驱动力矩的控制方法。最后,用计算机仿真验证文中提出方案的可行性。

关键词： 学生发展   竞赛活动   机器人   学习环境   课程改革   基础教育   中华民族   问题情境  

摘要： “为了中华民族的复兴，为了每位学生的发展”是目前我国正在推进的新一轮基础教育课程改革所提出的核心理念，充分表明课程改革呼唤教育要适应“学生的发展”。机器人竞赛活动把具体的竞赛项目设置为“有意义”的问题情境，将学生的学习置于“问题解决”的环境，学生在分析问题、解决问题的实践体验中获得发展。这种学习环境所具有的“丰富性”和“生动性”吸引了越来越多学校的关注和参与，

关键词： 形状记忆合金(SMA)   导管机器人   弯曲角度   滞回非线性   模糊PID  

摘要： 研究了由骨架弹簧和形状记忆合金(SMA)螺旋弹簧组成的柔性导管机器人的动态特性。基于导管力学模型、SMA的本构和传热方程,系统地提出了一套完整的建模方法。由于SMA具有滞回和饱和等强非线性属性,传统的比例积分微分(PID)控制方法用于导管机器人中很难获得精确的控制效果,因此针对性地设计了参数自整定模糊PID控制器。仿真结果验证了模型的正确性,并显示出模糊PID对这种结构具有良好的控制效果。这种建模和控制方法,为单个SMA弹簧驱动导管机器人的实际应用和多驱动器的导管机器人的控制研究奠定了基础。

关键词： 可重构   模块化机器人   动力学   分析  

摘要： 根据给定的工作任务分析确定可重构模块化机器人的构型后,进行机器人的轨迹规划和变量求解;然后采用牛顿-欧拉方法,并借助MATLAB软件设计用户界面计算和导出各个关节模块的实时控制变量值的文件,并将其导入ADAMS软件中进行动力学分析和仿真。

关键词： Systems integrators   Industrial robots   Robotics   Industrial efficiency   Materials handling   Packaging   Food processing machinery   Beverage processing machinery  

摘要： The article discusses how robotic-arm makers have turned to systems integrators in devising systems that meet the needs of food and beverage manufacturers. It cites the mixed load palletizing as an example of integrated controls that resulted in smoother deployments. It mentions the benefits of robotics such as labor cost reduction, delivery of soft savings and overall efficiency. It notes that while robotics applications are used in secondary packaging and material handling, increased demand for automated solutions for mixed pallets is predicted.