关键词： soft robotics   additive manufacturing   support bath   freeform fabrication   gripper   embedded sensors  

摘要： Freeform liquid three-dimensional printing (FL-3DP) is a promising new additive manufacturing process that uses a yield stress gel as a temporary support, enabling the processing of a broader class of inks into complex geometries, including those with low viscosities or long solidification kinetics that were previously not processable. However, the full exploitation of these advantages for the fabrication of complex multilateral structures has been hindered by difficulties in controlling the interfaces between inks and supports. In this work, an in-depth study of the rheological properties and interfacial stabilities between a nanoclay-modified support and silicone-based inks enabled a better understanding of the impact printing parameters have on the extruded filament morphology, and thus on printing resolutions. With these improvements, the fabrication of functional multimaterial pneumatic components applied to soft robotics could be demonstrated, exhibiting superior capabilities compared to casting or traditional extrusion-based additive manufacturing in terms of geometric freedom (overhanging and multimaterial structures), tunability of the component's functionality, and robustness between different phases. Overall, the full exploitation of FL-3DP advantages enables a broader design space for features and functionalities in soft robotic components that require complex and robust combinations of materials.

关键词： Cognitive robot   information generalization   active sensing   prediction   language communication  

摘要： Social demand for robots to be our partners in daily life has been rapidly increasing. Cognitive robotics should play a major role in making robots our partners. To discuss the role of cognitive robotics, we organized the round table in December 2020. This review paper aimed at clarifying the role of cognitive robotics summarizing the discussion in the round table. The round table noted that the existence of uncertainty in the continuous control loop is a source of the need for cognitive robots and is the key factor that distinguishes cognitive robotics from the cognitive system in other fields. This paper summarized the discussion focusing on the creation of several cognitive functions without stopping even if the robots face novel uncertainty in daily life. We discussed information generalization, active sensing, prediction, and language communication as the necessary functions for future cognitive robots. One of the conclusions of the discussion is the importance of setting primitive but concrete targets for cognitive robotics research as cognitive robotics problems. We should continue to discuss the setting of these targets as a grand challenge for cognitive robotics.

关键词： Social emotion   emotional robotics   emotion model   developmental robotics   survey paper  

摘要： This paper presents a review of available research concerning social emotions in robotics. In robotics, the study of emotions has been pursued since a long time. The popular research endeavors in robotics concern the study of robotic recognition, expression, and computational modeling of the basic mechanisms that underlie them. The advancements in research relevant to this domain are in accordance with well-known psychological findings obtained using the category and dimension theories. Many studies are based on these basic theories, which exclusively address the basic emotions. However, social emotions, also referred to as high-level emotions, have been investigated in psychology. We believe that these high-level emotions are worth investigating for the development of next-generation robotic systems - socially aware robots. This paper summarizes the findings concerning social emotions reported through psychology and neuroscience research endeavors along with a survey of studies concerning social emotions in robotics conducted to date. Moreover, this paper discusses future research directions to facilitate the implementation of social emotions in robots.

关键词： 机器人   机器人工程   机器人应用   选题策划  

摘要： 本文分析了教育部新增的“机器人工程”的专业设置和课程建设内容，针对机器人相关专业跨学科的特点，提出策划机器人相关专业基础课程教材的方法，建议通过深入了解所跨学科的内容，研究如何更好地进行机器人相关专业课程的建设，进一步将作者选择和选题落实的工作做实。

关键词： 系统动力学   工业机器人   产业发展路径  

摘要： 在创新性资源发展有限的背景之下,如何能够促使机器人系统集成,关键零部件以及机器人本体等产业链的不同领域合理分配这些创新性的资源,是进一步解决关键问题的核心所在.系统动力学的模型构建形成工业机器人产业发展的模型,并且借助现实数据对机器人产业的不同领域发展进行全面的仿真与分析.研究过程当中可以发现,工业机器人产业在发展的初期,产业政策上的支持重点则主要通过系统的集成为主要内容,以机器人本体与关键零部件的发展为支撑.在后期的发展过程当中,机器人本体领域的发展也已经逐渐超过系统集成这一领域,在此发展阶段,应当以机器人本体与关键零部件为主,系统集成为辅.

关键词： Tethered underwater robot   Control equipment   Hydrodynamic performance   Six-degrees-of-freedom model   Cnoidal wave  

摘要： This paper investigates the manoeuvrability and hydrodynamic performance of a tethered underwater robot with control equipment, considering the cnoidal wave effect. A tethered underwater robot installed with two hydrofoils and ducted propellers is proposed to investigate the related phenomena. The numerical experiment is based on combining a variety of computational fluid dynamics (CFD) techniques, such as overlapping grids, sliding meshes, and six-degrees-of-freedom models. The reliability of the numerical method is verified by the experiment with the tethered underwater robot. The numerical results show that the hydrodynamic performance of the tethered underwater robot in shallow water conditions is significantly influenced by the cnoidal wave. The control effect of the control equipment is also significantly affected by the cnoidal wave.

关键词： 创新实验室   机器人竞赛   STEAM教育  

摘要： 本文主要以郑州51中在中学实验室建设中在机器人活动方面的经验进行总结，开展了以机器人竞赛活动为主导的探索和实践，探索进一步融合学科知识，培养合作能力和创新能力的路径，以期有效提升学生创新能力、实践能力与团队协作能力，从而进一步找到适合STEAM教育开展的合理科学的方式。

关键词： underwater gripper   ROV gripper   underwater manipulation   underwater end-effector   robotic underwater hands   marine biological sampling  

摘要： The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper.

关键词： Stochastic optimal control   Soft robotics   Infinite dimensional systems   Spatio-temporal dynamics   Optimization  

摘要： Correlated with the trend of increasing degrees of freedom in robotic systems is a similar trend of rising interest in spatio-temporal systems described by partial differential equations (PDEs) among the robotics and control communities. These systems often exhibit dramatic under-actuation, high dimensionality, bifurcations, and multimodal instabilities. Their control represents many of the current-day challenges facing the robotics and automation communities. Not only are these systems challenging to control, but the design of their actuation is an NP-hard problem on its own. Recent methods either discretize the space before optimization, or apply tools from linear systems theory under restrictive linearity assumptions in order to arrive at a control solution. This manuscript provides a novel sampling-based stochastic optimization framework based entirely in Hilbert spaces suitable for the general class of semi-linear SPDEs which describes many systems in robotics and applied physics. This framework is utilized for simultaneous policy optimization and actuator co-design optimization. The resulting algorithm is based on variational optimization, and performs joint episodic optimization of the feedback control law and the actuation design over episodes. We study first and second order systems, and in doing so, extend several results to the case of second order SPDEs. Finally, we demonstrate the efficacy of the proposed approach with several simulated experiments on a variety of SPDEs in robotics and applied physics including an infinite degree-of-freedom soft robotic manipulator.

关键词： Robotics and Automation   Artificial Intelligence   Computer Imaging   Vision   Pattern Recognition and Graphics   Control   Robotics   Mechatronics