仿人跑步机器人机构与步态规划综述

阐述了仿人跑步机器人研究的必要性,介绍了几款国外典型的仿人机器人机构设计和驱动系统设计,对仿人跑步机器人的步态规划问题进行了综述,并指出仿人跑步机器人领域的研究难点和未来研究方向。     

仿人机器人柔性腰部机构研究

仿人机器人腰部的构成对仿人机器人的运动学、动力学性能起着重要的作用．本 文着重分析了目前仿人机器人腰部机构存在的问题，提出了一种具有柔性特征的仿人机器人 腰部设计方案，并分析了此腰部机构对机器人的运动稳定性、操作柔顺性的影响．本设计使 仿人机器人具有良好的柔顺性，提高了机器人与人协作时的安全性、稳定性和抗干扰能力．     

仿人型机器人动态步行控制方法

本文介绍了仿人型机器人动态步行的一些基本问题和相关概念．从信息和控制的 角度对近年来仿人型机器人动态步行研究中出现的步态规划和姿态控制方法进行了分析,并 指出了它们的特点．提出了先进仿人型机器人实现过程中值得进一步研究的问题．     

智能仿人机器人的现状及展望

仿人机器人是当前智能机器人研究领域中最新的研究方向之一,并引起了广泛的注意。本文介绍了作为智能机器人重要表现形式的仿人机器人的特点,对世界上针对仿人机器人的研究工作进行了综述,指出了各自的侧重点及不足之处,指出了今后研究工作的重点。     

基于CAN总线的仿人机器人关节伺服控制系统研究

本文针对仿人机器人的结构和控制性能要求，结合清华大学THBIP-I型仿人机器 人样机研制，研究提出了基于CAN总线的仿人机器人关节伺服分级控制体系结构．文中详细 描述了系统的总体结构方案、位置控制卡的结构原理、通讯协议和控制算法，以及系统在TH BIP-I仿人机器人样机上的技术实现，并在控制实验有效性验证的基础上，提出了进一步完 善发展的思路．     

国外仿人机器人发展概况

介绍了国外仿人机器人发展的特点,详细分析了日本、美国和韩国等国几种仿人机器人的主要技术及其技术指标．根据国外的样机设计,作者讨论了仿人机器人各部分自由度的选用,分析了仿人机器人传动和控制设计中的一些问题．就国外仿人机器人发展对中国的启示提出了看法．     

从两足机器人到仿人型机器人的研究历史及其问题

本文介绍了从两足机器人发展到仿人型机器人的历 史,分析了在自由度、能量最优和碰撞研究的一些研究现状和前景,并对仿人型机器人与两 足机器人在运动特性上有所不同提出了一些问题．     

面向仿人机器人自然步态规划的人体步行实验分析

自然步态规划方法是实现仿人机器人步态柔顺和能量优化的可行方法,该方法要求对人体步行及其平衡策略进行定量研究．本文分析自然步态规划方法的原理,建立了一套快捷有效的人体步态测试系统,并通过实验建立了人体步行的参数化数据库．实验结果揭示了人体步行的参数化特征及其平衡策略,对于仿人机器人的自然步态规划及控制提供了理论指导．结论特别指出,仅仅通过规划的方式实现仿人机器人的自然步态是不完备的,自然步态的实现必须同仿生控制策略相结合．同时实验结论对于仿人机器人的本体优化设计也提供了参考．     

CAN总线在仿人机器人运动控制系统中的应用

文章先对CAN总线进行了介绍，然后把CAN总线应用到仿人机器人中，设计出一种适合仿人机器人的分布式运动控制系统，并给出了详细的设计过程。整个控制系统层次清晰，结构灵活，对仿人机器人的进一步发展具有积极的作用，同时为现场总线在仿人机器人中的应用提供了重要的参考。     

双足步行机器人的ZMP-CoP检测及研究

ZMP(零力矩点）和CoP(压力中心)是评价双足步行机构行走稳定性的重要参数．本文在研究了ZMP和CoP两者关系的基础上，根据THBIP-I仿人机器人基于ZMP理论的姿态调整要求和六维力/力矩传感器的安装位置，推导了适用于双足机器人的CoP计算公式，建立了采用六维力/力矩传感器的CoP检测系统．进行了THBIP-I仿人机器人行走过程的实际CoP检测实验，并对实验结果进行了讨论．实验证明了该系统的准确性.     

EXPERIMENTS OF MORPHOGENESIS IN SWARMS OF SIMPLE MOBILE ROBOTS

In this paper, we focus on the problem of having a multitude of very simple mobile robots self-organize their relative positions so as to obtain a variety of spatial configurations. The problem has a variety of applications in mobile robotics, modular robots, sensor networks, and computational self-assembly. The approach we investigate in this paper attempts at minimizing the local capability of robots and at verifying how and to what extent a variety of global shapes can be obtained by exploiting simple self-organizing algorithms and emergent behaviors. Several experiments are reported showing the effectiveness of the approach.     

基于DCOM的分布式机器人控制

机器人的应用领域不断在扩展，为了适应机器人在非工业环境的应用，机器人 的控制逐渐向分布式结构发展．DCOM技术是Microsoft对组件化编程的扩展，能够支持在局 域网、广域网甚至Internet 上不同计算机的对象之间的通讯．本文介绍了目前该领域的研 究状况，提出了一种基于DCOM的分布式的组件机器人架构．     

Towards cooperation of heterogeneous,autonomous robots: A case study of humanoid and wheeled robots

In this paper a case study of the cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended, compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required in order to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed, including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.     

Distributed multirobot exploration, mapping, and task allocation

We present an integrated approach to multirobot exploration, mapping and searching suitable for large teams of robots operating in unknown areas lacking an existing supporting communications infrastructure. We present a set of algorithms that have been both implemented and experimentally verified on teams—of what we refer to as Centibots—consisting of as many as 100 robots. The results that we present involve search tasks that can be divided into a mapping stage in which robots must jointly explore a large unknown area with the goal of generating a consistent map from the fragment, a search stage in which robots are deployed within the environment in order to systematically search for an object of interest, and a protection phase in which robots are distributed to track any intruders in the search area. During the first stage, the robots actively seek to verify their relative locations in order to ensure consistency when combining data into shared maps; they must also coordinate their exploration strategies so as to maximize the efficiency of exploration. In the second and third stages, robots allocate search tasks among themselves; since tasks are not defined a priori, the robots first produce a topological graph of the area of interest and then generate a set of tasks that reflect spatial and communication constraints. Our system was evaluated under extremely realistic real-world conditions. An outside evaluation team found the system to be highly efficient and robust.     

机器人手部运动误差分析

本文首先引入三阶影响系数,进而系统地导出了串联机器人及并联机器人手部位姿误差、位姿速度误差、位姿加速度误差分析的显表达式,推导过程简明、形式简单,便于编程.最后给出了计算示例.     

Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots

In this paper, we study the problem of distributed motion coordination among a group of nonholonomic ground robots. We develop vision-based control laws for parallel and balanced circular formations using a consensus approach. The proposed control laws are distributed in the sense that they require information only from neighboring robots. Furthermore, the control laws are coordinate-free and do not rely on measurement or communication of heading information among neighbors but instead require measurements of bearing, optical flow, and time to collision, all of which can be measured using visual sensors. Collision-avoidance capabilities are added to the team members, and the effectiveness of the control laws are demonstrated on a group of mobile robots.      

基于遗传算法的多移动机器人协调路径规划

采用链接图法建立了机器人工作空间模型;应用遗传算法规划多移动机器人运动路径; 引入适应值调整矩阵新概念,以达到对多移动机器人运动路径的全局优化;基于面向对象技术,研 制成功多移动机器人路径规划动态仿真系统.大量仿真实验结果表明,所提方法可行.     

The boundary of racial prejudice: Comparing preferences for computer-synthesized White,Black, and robot characters

Humanoid social robots are predicted to interact with humans in various domains of social life as robot technology keeps advancing. One area for understanding the impact of robots on human society is interracial relations. Would robots constitute a nonhuman outgroup to trigger human ingroup favoritism which will confine the boundary of racial prejudice? A study (N = 105) assessed Whites’ rank-ordered preferences for 15 White, Black and robot computer-synthesized characters. Explicit racial prejudice positively predicted White versus Black character preferences for liking and as one’s avatar, virtual friend, and virtual tutor. The implicit racial prejudice, measured with the Implicit Association Test (IAT), provided additional predictive utility for virtual friend. Among the 64 participants who reported minimal interest in robots, explicit racial prejudice negatively predicted preferences for Black over robot characters, showing a pattern that individuals with high prejudice preferred robot characters over Black ones. The results suggest alarming strength of racial prejudice and cast doubt on the notion of all-human ingroup favoritism in comparison to robots.     

室外智能移动机器人的发展及其关键技术研究

室外智能移动机器人有着广泛的应用前景,是机器人研究中的热点之一．本文分析 了在室外移动机器人发展中有着代表意义的几个典型系统,进而论述了室外移动机器人研究 中的若干关键技术的研究现状及发展水平．这些关键技术包括移动机器人的控制体系结构、 机器人视觉信息的实时处理技术、车体的定位系统、多传感器信息的集成与融合技术以及路 径规划技术与车体控制技术等．