关键词： 仿人机器人   双向动力学模型   地面约束力  

摘要： 为了得到更精确的仿人机器人动力学模型,提出一种在仿人机器人关节处采用双向动力学建模的方法。考虑关节处两个不同传输方向的功率传输效率,根据地面约束力和关节力矩定义,将仿人机器人简化为五连杆结构,采用Lagrange方程建立仿人机器人的双向动力学模型。对双向动力学模型进行计算机仿真,并在小型仿人机器人SHR-6S平台上进行对比实验。实验结果验证该双向动力学模型较传统方法建立的模型误差更小,更接近实测结果。

关键词： 电力线巡检   飞行机器人   快速扩展随机树   动力学模型   运动规划  

摘要： 提出一种以动力学模型为基础的电力线路巡检飞行机器人运动规划方法,采用随机优化的思想解决有限时间内不完整系统的问题,本质上是一种在快速扩展随机树算法的基础上融入飞行机器人动力学模型的运动规划算法,初步解决了电力线巡检飞行机器人运动规划问题.运用Matlab工具进行仿真实验,验证了方法的可行性和有效性.

关键词： 跳跃机器人   动力学   欠驱动   轨迹规划   非线性误差最小化  

摘要： 针对目前腿式跳跃机器人模型的局限性,考虑脚掌在跳跃过程中的作用,设计了一种由电机驱动的欠驱动双关节弹跳机器人.在起跳相和落地相,脚掌与地面的关系建模成弹簧-阻尼系统,由于脚掌的转动,在足尖处存在一个被动的自由度,系统产生了欠驱动.采用广义坐标,建立了机器人拉格朗日动力学模型,确定了跳跃运动的约束条件.基于跳跃机器人等价的二连杆模型进行了跳跃运动轨迹规划,并给出了一个期望轨迹与实际轨迹非线性误差最小化的曲线方程.仿真和样机实验验证了跳跃机器人模型和轨迹规划方法的正确性,为后续机器人运动控制和系统优化设计奠定了理论基础.

关键词： 并联机器人   柔性连杆机构   运动弹性力学   计算机仿真  

摘要： 3-RRC并联柔性少自由度机器人因其设计简单,制造与控制容易在近些年来备受青睐。然而由于使用了柔性杆件与关节点取代了传统的刚性附件,且通常情况下运动速度高,加速度大,机构质量轻等,因此在对其进行动力学分析时需要运用运动弹性动力学分析(简称KED)、有限元分析、拉格朗日方程进行建模,使用NewMark方法进行微分方程求解。现在建模软件、数值计算软件的使用使得大量的计算得以简化。

关键词： 智能机器人   学术研讨会   中国   专业委员会   人工智能   香港中文大学   副理事长   研究生院  

摘要： 由中国人工智能学会智能机器人专业委员会主办、北京大学深圳研究生院承办的“第9届中国智能机器人学术研讨会”于2011年11月11～13日在深圳举行，150多名专家学者出席了本次会议．中国人工智能学会理事长李德毅院士和指导委员会主任涂序彦教授来信向大会表示祝贺，香港中文大学副校长徐扬生院士、中国人工智能学会原理事长钟义信教授、中国人工智能学会副理事长韩力群教授、秘书长王万森教授、智能机器人专业委员会名誉主任蔡自兴教授、北京大学校长助理深圳研究生院常务副院长史守旭教授、深圳市科技工贸和信息化委员会副主任刘锦等嘉宾出席了本次会议．

关键词： body   design   gesture   human-robot interaction   laboratory   social agency   social robotics   spatial organization  

摘要： Social roboticists design their robots to function as social agents in interaction with humans and other robots. Although we do not deny that the robot's design features are crucial for attaining this aim, we point to the relevance of spatial organization and coordination between the robot and the humans who interact with it. We recover these interactions through an observational study of a social robotics laboratory and examine them by applying a multimodal interactional analysis to two moments of robotics practice. We describe the vital role of roboticists and of the group of preverbal infants, who are involved in a robot's design activity, and we argue that the robot's social character is intrinsically related to the subtleties of human interactional moves in laboratories of social robotics. This human involvement in the robot's social agency is not simply controlled by individual will. Instead, the human-machine couplings are demanded by the situational dynamics in which the robot is lodged.

关键词： Motion planning  

摘要： Self-replication(or self-reproduce) is an ultimate way for machine system to long-termly survive and be useable. Current self-replication motion planning are mainly based on evolved algorithm, since the replication process are too complex for ordinary method to deal with. However, we argue that deterministic algorithm should also be considered in some extent, especially for those robotics whose kinematic laws of motion could be modeled. As the first step, we proposed a designed self-replication motion strategy for 2-D modular robotics, after its motion laws are analyzed and modeled. The experiments show that the proposed approach outperformed the traditional evolved method both in search time and search space.

关键词： Interfaces   Human-robot-interaction   Robot interfaces   Search and rescue robots   Experimental evaluation  

摘要： Mobile robots can accomplish high-risk tasks without exposing humans to danger: robots go where humans fear to tread. Until the time in which completely autonomous robots are fully deployed, remote operators will be required in order to fulfill desired missions. Remotely controlling a robot requires that the operator receives the information about the robot's surroundings, as well as its location in the scenario. Based on a set of experiments conducted with users, we evaluate the performance of operators when they are provided with a hand-held-based interface or a desktop-based interface. Results show how performance depends on the task asked of the operator and the scenario in which the robot is moving. The conclusions prove that the operator's intra-scenario mobility when carrying a hand-held device can counterbalance the limitations of the device. By contrast, the experiments show that if the operator cannot move inside of the scenario, his performance is significantly better when using a desktop-based interface. These results set the basis for a transfer of control policy in missions involving a team of operators, some equipped with hand-held devices and others working remotely with desktop-based computers.

关键词： Computer-assisted surgery   surgical robots   navigation   surgical planning  

摘要： Off-the-shelf industrial robotic technologies have achieved significant advancements in the past several decades in terms of mechanics and automation performances. We are expecting to take advantage of the industrial robots for assisting surgeons in surgeries and quick prototyping a robotic surgery system. In precise computer-assisted surgeries (CASs), such as pelvic-acetabular surgery, eye surgery, or neurosurgery, it is extremely important to position the tools accurately and precisely for surgical operations. Some of the industrial robotics arms are able to achieve good repeatability and dexterity while positioning the surgical tools. To enable the application of industrial robots in the surgical rooms, there are several other essential modules to be integrated to the robotic surgery systems, such as real-time navigation system, surgical planning system, and surgeon-guidance system. In this paper, we review the existing studies on the medical robots including the ones using industrial robots, and then investigate the essentials for using industrial robots in computer-integrated surgery.

关键词： Swarm robotics   Statistical error detection   Adaptive error detection  

摘要： Swarm robotics is an example of a complex system with interactions among distributed autonomous robots as well with the environment. Within the swarm there is no centralised control, behaviour emerges from interactions between agents within the swarm. Agents within the swarm exhibit time varying behaviour in dynamic environments, and are subject to a variety of possible anomalies. The focus within our work is on specific faults in individual robots that can affect the global performance of the robotic swarm. We argue that classical approaches for achieving tolerance through implicit redundancy is insufficient in some cases and additional measures should be explored. Our contribution is to demonstrate that tolerance through explicit detection with statistical techniques works well and is suitable due to its lightweight computation. (C) 2011 Elsevier B.V. All rights reserved.