基于认知模型的室内移动服务机器人人机耦合协同作业机制

针对老年人和残疾人这类特殊用户群体与服务机器人构成的人机智能系统,提出了基于ACT-R(理性思维的适应性控制)认知架构模型的室内移动服务机器人人机耦合协同作业机制.基于ACT-R认知架构对人机一体化室内移动服务机器人人机协同作业系统进行了总体设计,利用简单自然的人机效应通道,设计了基于ACT-R认知架构的人机耦合界面;通过人-机-环境空间感知耦合,提出并建立了室内移动服务机器人人机一体化协同决策作业机制.最后在室内环境下进行移动服务机器人人机协同作业实验,系统安全高效地完成了作业任务,验证了该机制的有效性.     

基于人机社会力模型的人群疏散算法

针对公共场合紧急情况下人群疏散困难和效果有限的问题,提出一种基于人机社会力模型的机器人疏散人群的方法。首先,基于原始社会力模型提出了一种新的人机社会力模型,该模型在原始社会力模型的基础上加入了机器人对人作用的人机作用力;然后,基于人机社会力模型提出一种新的利用机器人疏散人群的方法,该方法在人群疏散场景中加入运动机器人,通过机器人自身的运动,利用人机作用力影响周围行人的运动状态,减小行人之间的压力,从而达到加快人群运动速度、提高人群疏散效率的目的。在室内封闭场景人群逃生、两群行人交错这两种典型的疏散场景中分别进行仿真实验,并将实验结果与未加入机器人的人群疏散结果进行对比分析,实验结果表明,基于人机社会力模型的机器人疏散人群的方法能够明显加快人群的运动,提高人群的疏散效率。     

涂胶机器人视觉系统的应用研究

对涂胶机器人智能系统的视觉部分进行了应用研究，系统引入了模式识别、基于图像的NC代码生成、胶线表面质量检测等关键技术．这些技术的集成应用，有益于涂胶机器人向高度自动化、智能化方向发展．     

智能空间助老助残服务机器人人机协作导航

针对具有基本认知行为能力的行动不便老人、肢残人士、运动和语言患者这类服务对象,构建了助老助残服务机器人人机一体化导航系统。用户与机器人之间进行交互,自由切换随机行走和自主导航2种运动模式,机器人根据现场环境和作业条件的不同,实时触发人机条件响应生成规则而产生相应的行走行为,作业时人机界面同步呈现虚实结合、实时交互的智能空间,实现人机一体化感知、决策与执行。以移动作业服务机器人为对象进行室内人机一体化导航作业,验证了该人机一体化导航系统的可行性。     

微装配机器人:关键技术、发展与应用

微装配机器人是机器人研究和应用领域的一个重要方向和热点,有重要理论意义和应用前景。本文对微装配机器人的关键技术进行了详细介绍,包括微操作系统的基本概念、微装配机器人的工作原理、尺度效应、多尺度交叉、微夹持器技术、显微视觉与显微视觉伺服等。对国内外微装配机器人研究和发展现状进行了综述,最后对微装配机器人的应用范围和发展前景进行了展望。     

云机器人的研究进展

将云机器人作为传统分布式网络机器人的自然衍生和发展,并从这一视角分析了云机器人与其他机器人之间的联系与区别.进一步地,详细介绍和分析了云机器人的技术基础,对国内外基于云的机器人服务平台和云机器人相关研究项目与应用进行了综述;在此基础上,分析了一种较为通用的云机器人系统框架模型.最后归纳总结了云机器人亟待解决的关键技术,并对未来云机器人的发展趋势进行了展望.     

协作机器人系统集成及安全方案研究

随着协作机器人越来越多地应用于汽车行业,其系统需要具备满足安全标准和现场使用要求的安全方案.本文对协作机器人的技术规范进行解读,将其梳理为应用系统设计和安全方案评估两个相互关联的过程;以此作为理论指导,基于UR5协作机器人,将发动机装配线上原有的手动检测工位改造为人机协作的自动检测工位;进行风险评估,在规划设计阶段,从工位布局、控制系统设计、安全防护和使用信息等方面,采取降低风险的措施;最后在生产使用过程中验证该安全方案的有效性.     

基于人机信息交互的助行外骨骼机器人技术进展

外骨骼机器人是集人体信息检测、机器人自动控制、神经工程等多学科知识于一身的高科技成果.本文简要介绍了外骨骼机器人研发技术现状和应用市场前景,分别从外骨骼动力驱动和运动测量技术角度剖析了支撑典型外骨骼机器人实现其运动辅助功能的主要技术基础,重点从神经信息交互角度出发,讨论了构建人机信息交互环路中的技术瓶颈,以及如何更为高效准确地获取人体运动意图.最后展望了其未来技术研发方向.     

配网带电作业机器人的人机共融控制系统设计

提出了一种用于配电网机器人作业的共融控制系统,该系统具有动态的控制权重分配以实现遥操作和自主导航的切换。系统赋予了本地操作员最高的控制权限,本地端手柄设备实时检测用户的输入力,其结果用于生成机器人自主性和用户远程控制的权重。控制系统可以确保专业操作员和机器人自主的两个命令的同步,并将它们结合起来确定远程机器人的运动。在实验室构建的机器人平台上的实验结果表明了该方法的有效性。通过多组跟踪目标点实验进行了测试,以比较纯手动远程控制和所提出的融合控制方法的综合性能。实验结果表明,与纯手动控制相比,人机共融控制器提高了跟踪的成功率和效率。     

基于CBR的交通事故处理智能决策支持系统

依据智能化、集成化、协调化和网络化的设计准则,给出了基于CBR的交通事故处理智能决策支持系统的总体框架。并对该系统中的关键技术问题,基于案例推理的综合推理模型、典型案例库系统、人机智能系统分别进行了讨论。     

协作机器人及其运动规划方法研究综述

协作机器人是一种新型工业机器人,利用物联网感知等新兴技术进行智能人机交互,实现与人类近距离协同工作以提高生产效率。因此,协作机器人近年来备受关注,成为了机器人领域最热门的研究方向之一。介绍了协作机器人的基本情况,包括主要产品、机器人本体设计以及应用案例;介绍了常见的人机协作方法,重点围绕人机协作中的高效、简单、安全三个特点,分别对协作机器人编程、安全协作方法、高效协作方法三个方面的研究成果展开讨论;总结了常见的机器人运动规划方法,分成路径规划方法和轨迹规划方法两部分介绍,并分析了各类方法的优缺点;最后,对目前协作机器人研究的发展方向进行了展望。     

面向智能家居/智慧生活的服务机器人技术与系统

随着机器人技术的发展以及服务机器人形态的日益丰富,智能家居/智慧生活逐渐成为一种未来的生活方式。文章探索了智能家居和智慧生活的服务机器人技术与系统,在其众多的关键技术中,重点探讨了面向服务机器人的云端融合技术以及高用户体验度的人-机器人交互技术。并以家庭服务机器人为例,实现了基于微信和语音云的人-机器人交互方式,验证了基于云架构的家庭服务机器人体系结构的可行性。文章所提出的服务机器人技术与系统是智能家居、智慧生活的一种实现方式,为未来形形色色的服务机器人技术方案提供了一些思路。     

Review of Research and Development of Supernumerary Robotic Limbs

Supernumerary robotic limbs(SRLs) are a new type of wearable human auxiliary equipment, which is currently a hot research topic in the world. SRLs have broad applications in many fields, and will provide a reference and technical support for the realization of human-robot collaboration and integration,while playing an important role in improving social security and public services. In this paper, representative SRLs are summarized from the aspects of related literature analysis,research status, ontology structure design, control and driving,sensing and perception, and application fields. This paper also analyzes and summarizes the current technical challenges faced by SRLs, and reviews development progress and key technologies,thus giving a prospect of future technical development trends.     

Integration of a Rehabilitation Robotic System (KARES II) with Human-Friendly Man-Machine Interaction Units

In this paper, we report some important results of design and evaluation of a wheelchair-based robotic arm system, named as KARES II (KAIST Rehabilitation Engineering Service System II), which is newly developed for the disabled. KARES II is designed in consideration of surveyed necessary tasks for the target users (that is, people with spinal cord injury). At first, we predefined twelve important tasks according to extensive interviews and questionnaires. Next, based on these tasks, all subsystems are designed, simulated and developed. A robotic arm with active compliance and intelligent visual servoing capability is developed by using cable-driven mechanism. Various kinds of human-robot interfaces are developed to provide broad range of services according to the levels of disability. Eye-mouse, shoulder/head interface, EMG signal-based control subsystems are used for this purpose. Besides, we describe the process of integration of our rehabilitation robotic system KARES II, and discuss about user trials. A mobile platform and a wheelchair platform are two main platforms in which various subsystems are installed. For a real-world application of KARES II system, we have performed user trials with six selected potential end-users (with spinal cord injury).     

Intelligent welding system technologies: State-of-the-art review and perspectives

Welding systems are being transformed by the advent of modern information technologies such as the internet of things, big data, artificial intelligence, cloud computing, and intelligent manufacturing. Intelligent welding systems (IWS), making use of these technologies, are drawing attention from academic and industrial communities. Intelligent welding is the use of computers to mimic, strengthen, and/or replace human operators in sensing, learning, decision-making, monitoring and control, etc. This is accomplished by integrating the advantages of humans and physical systems into intelligent cyber systems. While intelligent welding has found pilot applications in industry, a systematic analysis of its components, applications, and future directions will help provide a unified definition of intelligent welding systems. This paper examines fundamental components and techniques necessary to make welding systems intelligent, including sensing and signal processing, feature extraction and selection, modeling, decision-making, and learning. Emerging technologies and their application potential to IWS will also be surveyed, including Industry 4.0, cyber-physical system (CPS), digital twins, etc. Typical applications in IWS will be surveyed, including weld design, task sequencing, robot path planning, robot programming, process monitoring and diagnosis, prediction, process control, quality inspection and assessment, human-robot collaboration, and virtual welding. Finally, conclusions and suggestions for future development will be proposed. This review is intended to provide a reference of the state-of-the-art for those seeking to introduce intelligent welding capabilities as they modernize their traditional welding stations, systems, and factories.     

A literature survey of the robotic technologies during the COVID-19 pandemic

Since the late 2019, the COVID-19 pandemic has been spread all around the world. The pandemic is a critical challenge to the health and safety of the general public, the medical staff and the medical systems worldwide. It has been globally proposed to utilise robots during the pandemic, to improve the treatment of patients and leverage the load of the medical system. However, there is still a lack of detailed and systematic review of the robotic research for the pandemic, from the technologies’ perspective. Thus a thorough literature survey is conducted in this research and more than 280 publications have been reviewed, with the focus on robotics during the pandemic. The main contribution of this literature survey is to answer two research questions, i.e. 1) what the main research contributions are to combat the pandemic from the robotic technologies’ perspective, and 2) what the promising supporting technologies are needed during and after the pandemic to help and guide future robotics research. The current achievements of robotic technologies are reviewed and discussed in different categories, followed by the identification of the representative work’s technology readiness level. The future research trends and essential technologies are then highlighted, including artificial intelligence, 5 G, big data, wireless sensor network, and human-robot collaboration.     

A Survey of Human-centered Intelligent Robots: Issues and Challenges

Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intelligent control, pattern recognition and human-robot interaction. This paper focuses on the recent achievements and presents a survey of existing works on human-centered robots. Furthermore, we provide a comprehensive survey of the recent development of the human-centered intelligent robot and discuss the issues and challenges in the field.      

OTTER: The design and development of an intelligent underwater robot

Recent advances in sensing and intelligent control technologies open a whole new dimension in underwater autonomy. However, before truly-capable, autonomous underwater robots can be created for subsea intervention and exploration, many research issues must be first investigated and developed experimentally on testbed platforms.OTTER is an underwater robot designed to be used as a testbed for autonomous technologies. Both OTTER's hardware and software systems are configured to support simultaneous development and testing of different concepts for underwater robotic by independent researchers. A general control-software framework enables common access to all subsystems and avoids the duplication of basic robotic functionality jointly required by all projects. Additionally, the new autonomous technologies enabled by the results of individual research are mutually compatible and can be easily integrated into a single robotic system. Examples of new technologies demonstrated on the OTTER underwater robot include control from a real-time vision-sensing system, coordinated arm/vehicle control, and control from 3D graphical user interfaces.     

A new method to evaluate human-robot system performance

One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated.