关键词： evolutionary learning   legged robots   gait generation   model identification   reality gap  

摘要： The objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot's mechanics and drives on a flat terrain. Biological inspirations are commonly used in the design of walking robots and their control algorithms. However, legged robots differ significantly from their biological counterparts. Hence we believe that gait patterns should be learned using the robot or its simulation model rather than copied from insect behaviour. However, as we have found tahula rasa learning ineffective in this case due to the large and complicated search space, we adopt a different strategy: in a series of simulations we show how a progressive reduction of the permissible search space for the leg movements leads to the evolution of effective gait patterns. This strategy enables the evolutionary algorithm to discover proper leg co-ordination rules for a hexapod robot, using only simple dependencies between the states of the legs and a simple fitness function. The dependencies used are inspired by typical insect behaviour, although we show that all the introduced rules emerge also naturally in the evolved gait patterns. Finally, the gaits evolved in simulations are shown to be effective in experiments on a real walking robot.

关键词： Service robots   Data-driven learning algorithms   Evolutionary algorithms   Fuzzy controllers   Design of behaviors  

摘要： Service robots will play an increasing and more important role in the society in the next years One of the main challenges is to endow robots with enough autonomy to operate on real environments To reach that goal, the design of controllers to solve simple tasks must be automatized Engineers look for learning algorithms that are general. robust. require low expertise knowledge, and generate controllers that can run on the real robot without any tuning stage. In this paper, a framework to learn behaviors (controllers) in mobile robotics, fulfilling the previous requirements, has been used The framework is based on two modules: dataset generation and a data-driven evolutionary-based learning algorithm to obtain fuzzy controllers. Nevertheless. the design of a fuzzy controller still requires the selection of the type of learning algorithm, and also to choose the value of some design parameters. In this paper we present an exhaustive study on a Set Of evolutionary-based data-driven learning algorithms, for learning fuzzy controllers in mobile robotics. that cover a wide range of the accuracy/interpretability trade-off. The study has also evaluated the influence of the values of all the design parameters over accuracy and interpretability The objective is to analyze the performance of the different algorithms for the design of behaviors in mobile robotics, and to extract some general rules that can help in the process to design new behaviors The analysis comprises two different behaviors (wall-following and moving object following) and more than 450 tests, both in simulation and on a Pioneer II AT robot Results have shown very good performances in complex and realistic conditions for the different combinations of algorithms and parameters. (C) 2009 Elsevier Ltd All rights reserved.

关键词： automation technology   robotics technology   R&D investment   trend analysis  

摘要： Attention to development of automation and robotics technology in the construction industry seems to have been growing and there has been an increased awareness of the potential benefits of automation and robotics technology development. Although research and development (R&D) facilitates progress in the state of technology and-in the long run-yields significant savings in time and money for companies that take advantage of it, the costs of R&D in the short term are high and resources are limited. Analysis of trends in existing research is helpful in identifying where further R&D is needed and in suggesting directions for future research. In addition, it can be used to help predict the return on investment in individual technologies. This study was to identify global trends and issues in automation and robotics technology in the construction industry by analyzing papers published in the proceedings of the International Symposium on Automation and Robotics in Construction (ISARC). The results of that analysis show that various research topics are actively researched from the viewpoint of automation in construction and contributed by different countries and regions as well as different types of research institutions.

关键词： Robots   Software  

摘要： The Defense Advanced Research Projects Agency announced a major new initiative to create robotic autonomous manipulators that mimic the human hands, an agency program manager said. For the past several decades, the research agency and the robotics community have concentrated their efforts on programming ground robots to get from point A to point B, said Robert Mandelbaum, a DARPA program manager who focuses on robotics and autonomous systems.

关键词： network robot systems   distributed sensors   robot sensors   camera network  

摘要： In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an adaptable network robot architecture for cooperation between network robots and human beings and/or the environment in urban areas. The project goal is to deploy a team of robots in an urban area to give a set of services to a user community. This paper addresses the sensor architecture devised for URUS and the type of robots and sensors used, including environment sensors and sensors onboard the robots. Furthermore, we also explain how sensor fusion takes place to achieve urban outdoor execution of robotic services. Finally some results of the project related to the sensor network are highlighted.

关键词： SURGICAL robots   NEUROSCIENCES -- Research  

摘要： The article discusses various reports published within the issue, which include one on surgical robotics and another on the joint-effort in cutting-edge research from surgeons and scientists.

关键词： 机械电子   李群   机器人   动力学   仿真  

摘要： 基于李群方法研究了具有六自由度工业机器人的动力学问题。通过指数映射，对机器人连杆坐标系进行位姿描述，根据李群及李代数的伴随表达及其对偶表达的数学意义，进行速度变换和力变换，以递推形式求出了广义速度和广义加速度，最终得到了广义力的数学模型。通过Matlab编程仿真，分析了当外转矩施加在机器人手腕处时，各个关节驱动转矩的动态特性，并与MSC ADAMS的仿真结果进行对比，证明了利用李群方法建立的机器人动力学模型的有效性。

关键词： Mobile Robot   Extend Kalman Filter   Robotic Device   Autonomous Navigation   Mobile Robot Navigation  

摘要： Background: The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviourbased reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). Methods: In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners-concave and convex-of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results: The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM re

关键词： 球形机器人   风力   动力学   环境探测   运动模式  

摘要： 风力驱动球形机器人是一种新型移动机器人,适合于危险或人类难以到达的复杂地形环境的探测,因此在环境探测领域具有独特的优势。首先考虑了碰撞接触点无滑动和有滑动的情况,采用Kane方法建立了风力驱动球形机器人弹跳动力学模型,该模型可以直接分析机器人碰撞后的运动情况。然后给出了机器人滚动和滑动的运动条件,运用牛顿力学方法建立了机器人的滚动和滑动动力学模型。最后将弹跳、滚动和滑动运动模式有机结合,并考虑环境中随机风的作用,实现了风力驱动球形机器人的运动仿真。数值仿真结果揭示了环境变化和机器人结构参数变化对其运动性能的影响。