关键词： 人工情感   情感建模   机器人学习   算法优化  

摘要： 随着计算机和人工智能技术的发展，机器人的应用已经从传统的工业制造领域发展到了军事民用海洋勘探月球和火星探测等方面这些应用领域已经不再是简单的结构化的环境，而是一些极端的或者复杂多变的环境，在这种情况下就对机器人的性能提出了更高的要求目前的机器人的智能化水平已经无法满足上述复杂环境的要求，需要自主性更强，实时性更好的机器人传统的机器人控制机理都是基于认知推理方式的，这种控制机理不能满足这种极端环境或者复杂多变的环境，应该从机器人控制机理上对机器人学习方式进行改进而关于情感智能的研究已经取得了一定的成果，所以将人工情感引入到机器人智能控制中逐渐成为人工智能领域一个新的研究方向 本文针对传统的机器人学习算法进行研究，将情感的因素加入到机器人学习算法中，提出了基于人工情感的机器人学习框架，并用于改进CMAC网络学习算法遗传算法和强化学习算法，提高了机器人的综合性能 首先，对CMAC网络学习算法遗传算法和强化学习算法进行分析，并结合人类大脑处理信息的原理提出将情感因素引入到机器人学习中的思路，建立了基于人工情感的机器人学习框架，为后面分别针对CMCA网络学习算法遗传算法和强化学习算法的改进作基础 其次，针对自然情感的特点进行深入研究，根据情感建模的知识分别建立了基于欧氏空间的模型和基于认知推理的情感模型，并通过仿真实验验证了前两种模型的有效性，证明了可以将人工情感模型应用于机器人智能控制中去在此基础之上建立了基于模糊推理的情感模型，应用于后面的仿真实验中 最后，在Matlab环境下，设置机器人生存实验和机器人导航实验，分别对基于CMAC网络的改进算法基于遗传算法的改进算法和基于强化学习的改进算法进行仿真实验仿真实验结果验证了基于人工情感的机器人学习框架设计的合理性和这种改进算法提高机器人整体性能的可行性

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： active sensing   biomimetic   classification   comparative   perception   robot   touch   whisker  

摘要： Whisker movement has been shown to be under active control in certain specialist animals such as rats and mice. Though this whisker movement is well characterized, the role and effect of this movement on subsequent sensing is poorly understood. One method for investigating this phenomena is to generate artificial whisker deflections with robotic hardware under different movement conditions. A limitation of this approach is that assumptions must be made in the design of any artificial whisker actuators, which will impose certain restrictions on the whisker-object interaction. In this paper we present three robotic whisker platforms, each with different mechanical whisker properties and actuation mechanisms. A feature-based classifier is used to simultaneously discriminate radial distance to contact and contact speed for the first time. We show that whisker-object contact speed predictably affects deflection magnitudes, invariant of whisker material or whisker movement trajectory. We propose that rodent whisker control allows the animal to improve sensing accuracy by regulating contact speed induced touch-to-touch variability.

关键词： 机器人竞赛   创新能力   开放实验室   创新团队   项目培训  

摘要： 作为高技术对抗赛的涉及多领域的前沿技术集成的机器人竞赛正在国内外迅速发展,也成为高等院校对大学生进行创新能力培养的重要平台。分析高校参加机器人竞赛对大学生创新能力培养的重要意义,结合我校基于机器人竞赛平台的大学生创新能力培养机制的创立及实践活动中的开放性实验室的建设、机器人创新团队的组建及项目培训等实际情况,探讨了新时代大学生创新能力的培养模式。

关键词： 4-DOF混联码垛机器人   运动学   动力学   ADAMS   参数化   优化设计  

摘要： 近年来使用于自动化生产线上的由串并联机构组成的混联机器人的开发及应用是机械加工业的发展趋势,本文对4-DOF混联码垛机器人进行的运动学、动力学分析及参数化优化设计,对机器人的控制具有重要的理论意义和实用价值。 本文结合齐次坐标变换矩阵和D-H法对码垛机器人进行运动学求解,获得了所有关节的位置正反解析解,运用运动影响系数矩阵对码垛机器人进行了速度和加速度分析,得到了简洁明了的速度和加速度表达式。对码垛机器人进行结构简化,并将简化后的结构拆分为左支链和右支链,运用凯恩法推导出其动力学方程模型。然后在Pro/E环境下建模并进行虚拟装配得到机器人的总体结构模型,导入ADAMS环境下对该机器人进行运动学仿真分析,得到机器人末端位置的位移、速度和加速度曲线图,并将仿真分析得到的结果与理论计算的结果进行比较,通过仿真分析验证了理论计算的正确性,为该机器人的动力学研究及参数化优化设计提供了可靠基础。 最后,在ADAMS/View环境下建立码垛机器人参数化模型,选择设计变量,设定变量的变化范围,确定优化目标,应用ADAMS/View自带的强大设计研究和优化设计功能模块,对模型进行参数化优化设计,最终得到一组设计变量值使得码垛机器人的动力学性能最优。

关键词： 机器人   机电专业   创新   竞赛  

摘要： 介绍了机器人竞赛的基本情况以及机器人竞赛的特点,结合机电专业的特色,从政策的支持、教师的努力、结合其他教学环节和学生的分工协作等方面,提出了以机器人竞赛为平台,探索一条适合机电专业学生创新能力培养的新途径,经实践取得了良好的效果。

关键词： Rehabilitation   Robotics  

摘要： Robotic aids for rehabilitation hold considerable promise but have not yet achieved widespread clinical adoption. Barriers to adoption include the limited data on efficacy, the single-purpose design of existing robots, financial considerations, and clinician lack of familiarity with this technology. Although the path forward to clinical adoption may be slow and have several false starts, the labor-saving aspect of robotic technology will ultimately ensure its adoption. Copyright © 2012 by Lippincott Williams & Wilkins.

关键词： Robots   Packaging processes   Trade fairs   End of arm tooling   Vision   Delta  

摘要： Purpose - The purpose of this paper is to review the PACK EXPO show (packaging technology), with emphasis on the new robot innovations and applications to packaging on display. Design/methodology/approach - The paper includes in-depth interviews with exhibitors of robots of all types and integrators of robots at the PACK EXPO Show. Findings - Robots are addressing the packaging needs for faster robots, as well as robots that are smarter and can operate more autonomously than in the past. Practical implications - Packaging customers now have robot innovations to address packaging requirements with faster and smarter product handling technologies to increase productivity and decrease packaging costs. Originality/value - For packaging customers who could not attend PACK EXPO, the paper is an opportunity to see and learn about some of the robot innovations that were on display.

关键词： 机器人   竞赛   创新能力  

摘要： 学生高水平的创新能力是建设创新型国家的人才和技术基础.机器人竞赛是培养学生创新精神,提高学生创新能力的有效方法.通过参加机器人竞赛,可以让学生在各项创新能力上有所提升,进一步使学生获取更多的知识并学会分析问题和解决问题的方法,在创新能力方面得到有效的训练和全面健康的发展.