摘要： Reports on the RAS society Spring 2021 Future Innovations Workshop.

关键词： Degrees of freedom   integral sliding mode control   perturbation   sliding mode control with sliding perturbation observer  

摘要： In this study, two different control logics have been designed for the position control of a robot with five degrees of freedom (DOFs). First, a sliding mode control with a sliding perturbation observer (SMCSPO) has been proposed. The SMCSPO is robust against perturbation, which is the sum of nonlinearities, parametric uncertainties, and external disturbances. To implement the SMCSPO, linear parameters of the system are required;however, these are difficult to identify. Moreover, it is exigent to derive the equation of motion for the multi-DOF robot. Accordingly, an integral sliding mode control (ISMC) has been designed for the position control of this multi-DOF robot. The ISMC controller does not require a mathematical model of the system. The ISMC control input applies a switching gain to compensate for the perturbation and system dynamics. In comparison with the SMCSPO, the ISMC has improved the tracking performance of the system because of its unique characteristics. Both control schemes have been implemented in MATLAB/Simulink. It has been observed that the tracking error of each ISMC joint is lower than that of the SMCSPO.

关键词： Evolutionary robotics   Biorobotics   Visual navigation   Neural dynamics   Chaotic dynamics   Evolvable hardware  

摘要： This paper explores current developments in evolutionary and bio-inspired approaches to autonomous robotics, concentrating on research from our group at the University of Sussex. These developments are discussed in the context of advances in the wider fields of adaptive and evolutionary approaches to AI and robotics, focusing on the exploitation of embodied dynamics to create behaviour. Four case studies highlight various aspects of such exploitation. The first exploits the dynamical properties of a physical electronic substrate, demonstrating for the first time how component-level analog electronic circuits can be evolved directly in hardware to act as robot controllers. The second develops novel, effective and highly parsimonious navigation methods inspired by the way insects exploit the embodied dynamics of innate behaviours. Combining biological experiments with robotic modeling, it is shown how rapid route learning can be achieved with the aid of navigation-specific visual information that is provided and exploited by the innate behaviours. The third study focuses on the exploitation of neuromechanical chaos in the generation of robust motor behaviours. It is demonstrated how chaotic dynamics can be exploited to power a goal-driven search for desired motor behaviours in embodied systems using a particular control architecture based around neural oscillators. The dynamics are shown to be chaotic at all levels in the system, from the neural to the embodied mechanical. The final study explores the exploitation of the dynamics of brain-body-environment interactions for efficient, agile flapping winged flight. It is shown how a multi-objective evolutionary algorithm can be used to evolved dynamical neural controllers for a simulated flapping wing robot with feathered wings. Results demonstrate robust, stable, agile flight is achieved in the face of random wind gusts by exploiting complex asymmetric dynamics partly enabled by continually changing wing and tail morpho

关键词： reverse engineering   robotics education   structural innovation model   teaching model   troubleshooting model  

摘要： The purpose of the study is to explore the effectiveness of reverse engineering pedagogy (REP) and forward project-based pedagogy (FPP) in K-12 robotics education. A two-stage study was conducted in two secondary schools, involving a total of 169 students. Based on the experience of the pilot study (Study 1), we refined the REP and examined its effectiveness through a quasi-experimental design in the formal study (Study 2), which included four teaching models: the Deconstruction Recovery Model, Troubleshooting Model, Element Minitrim Model, and Structural Innovation Model. Results indicated that students in the REP group performed significantly better and perceived a higher degree of compatibility and creative self-efficacy than those in the FPP group, which is consistent with the final robotics product evaluation. However, no significant difference was found in the learning attitude towards the course. The research findings highlight the value of REP in robotics education, especially in cultivating creativity and enhance learning performance, however, it needs reasonable planning and design.

关键词： Kinematics   Power cables   Uncertainty   Mathematical model   Synchronization   Dynamics   Adaptation models   Adaptive control   cable tension   dynamic control   parallel robot   synchronization control (SC)  

摘要： Cable-driven parallel robots (CDPRs) are a new type of parallel robots with a mobile platform driven by several cables. The flexibility of the structure not only helps them perform better than traditional parallel robots, but also brings about the issues of model uncertainty and multicable coordination. To handle these problems, a novel adaptive synchronization control (ASC) scheme is proposed to suppress the uncertainties of kinematics and dynamics simultaneously, regulate the coordination motion of multiple cables, and finish high-precision tracking tasks. In the proposed scheme, apart from tracking error, a new synchronization error is introduced to describe the coordination motion relationship between adjacent cables. According to these defined errors, the kinematic and dynamic adaptation laws are designed through the linear expressions of kinematic and dynamic models, respectively. Finally, the ASC scheme is presented as well as a tension distribution algorithm. The tracking experiments are implemented on a redundantly actuated 3-degree-of-freedom CDPR with four cables. The proposed ASC scheme can effectively complete the correction of the model parameters by using the feedback of errors and enhance the tracking accuracy of each cable and the synchronization accuracy between all the cables significantly, thereby ultimately improving the control performance of the mobile platform.

关键词： actuator   haptics   human–   machine interfaces   polymerization   robotics  

摘要： Progress in the field of soft devices-that is, the types of haptic, robotic, and human-machine interfaces (HRHMIs) in which elastomers play a key role has its basis in the science of polymeric materials and chemical synthesis. However, in examining the literature, it is found that most developments have been enabled by off-the-shelf materials used either alone or as components of physical blends and composites. A greater awareness of the methods of synthetic chemistry will accelerate the capabilities of HRHMIs. Conversely, an awareness of the applications sought by engineers working in this area may spark the development of new molecular designs and synthetic methodologies by chemists. Several applications of active, stimuli-responsive polymers, which have demonstrated or shown potential use in HRHMIs are highlighted. These materials share the fact that they are products of state-of-the-art synthetic techniques. The progress report is thus organized by the chemistry by which the materials are synthesized, including controlled radical polymerization, metal-mediated cross-coupling polymerization, ring-opening polymerization, various strategies for crosslinking, and hybrid approaches. These methods can afford polymers with multiple properties (i.e., conductivity, stimuli-responsiveness, self-healing, and degradable abilities, biocompatibility, adhesiveness, and mechanical robustness) that are of great interest to scientists and engineers concerned with soft devices for human interaction.

关键词： bacteria‐   bots   biorobots   enzymatic nanomotors   hybrid robotics   muscle‐   based biorobots  

摘要： Biohybrid robotics is a field in which biological entities are combined with artificial materials in order to obtain improved performance or features that are difficult to mimic with hand-made materials. Three main level of integration can be envisioned depending on the complexity of the biological entity, ranging from the nanoscale to the macroscale. At the nanoscale, enzymes that catalyze biocompatible reactions can be used as power sources for self-propelled nanoparticles of different geometries and compositions, obtaining rather interesting active matter systems that acquire importance in the biomedical field as drug delivery systems. At the microscale, single enzymes are substituted by complete cells, such as bacteria or spermatozoa, whose self-propelling capabilities can be used to transport cargo and can also be used as drug delivery systems, for in vitro fertilization practices or for biofilm removal. Finally, at the macroscale, the combinations of millions of cells forming tissues can be used to power biorobotic devices or bioactuators by using muscle cells. Both cardiac and skeletal muscle tissue have been part of remarkable examples of untethered biorobots that can crawl or swim due to the contractions of the tissue and current developments aim at the integration of several types of tissue to obtain more realistic biomimetic devices, which could lead to the next generation of hybrid robotics. Tethered bioactuators, however, result in excellent candidates for tissue models for drug screening purposes or the study of muscle myopathies due to their three-dimensional architecture. This article is categorized under: Therapeutic Approaches and Drug Discovery > Emerging Technologies Nanotechnology Approaches to Biology > Nanoscale Systems in Biology

关键词： Humanoid robots   Service robots   Conferences   Robot kinematics   Robot sensing systems   Automation  

摘要： This article presents the experience of a longlasting collaboration in robotics between the countries of Japan and Italy. The diversity of the approaches to robotics research and technology in the two countries and, at the same time, the similarity of some social drives for robotics progress have created a stimulus for generating new thinking about robotics. Not only has this occurred at the main participant institutions of Waseda University in Tokyo and Scuola Superiore Sant?Anna in Pisa, Italy, but it has also happened worldwide. The authors present a summary of the Italy-Japan workshops, exploring topics on 1) humanoid robotics, 2) the application of robotics for exploration and rescue, 3) biorobotics, 4) the use of robots in education, 5) the ethics of robotics, 6) robotics for sports, and 7) robotics for the arts. The experience of the workshops represents an example of an open-minded approach to robotics that is grounded on social challenges, explored through multidisciplinary discussion. Such interdisciplinary research efforts deserve to be shared with the international robotics community. Indeed, this approach could be used as a base model to foster further international collaborations among countries as well.

关键词： reconstructive urology   robotic assistance   ureteral stricture   urethral stricture  

摘要： Purpose of review Developments in robotic reconstructive urology have introduced novel treatments for complex upper and lower urinary tract disease. Short-term and mid-term data demonstrates excellent outcomes and minimal morbidity, suggesting the advanced instrumentation and visualization of robotics represent a new treatment paradigm in patients that are historically difficult to treat. Here we review recent developments in the robotically assisted surgical management of urethral and ureteral strictures. Recent findings The minimally invasive approach, enhanced precision and reach, and near-infrared fluorescence imaging capabilities of robotic platforms have proven to be valuable additions in reconstructive urology where perfusion is often compromised, or anatomy is distorted. These benefits are leveraged heavily in recent descriptions of robotic-assisted posterior urethroplasty and ureteroplasty. Short-term to mid-term follow-up data for these procedures show excellent patency rates with low morbidity and complication rates when compared with open approaches. Long-term data for these procedures are not yet available. The role of robotics in reconstructive urology is being actively investigated. Initial findings demonstrate excellent results with low morbidity in the treatment of upper and lower urinary tract disease. Long-term data will ultimately determine the role of robotics in the reconstructive armamentarium.