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基于柔性长鳍波动推进的仿生水下机器人设计与实现 总被引:1,自引:0,他引:1
以基于柔性长鳍波动推进的仿生水下机器人试验模型为背景,主要研究其设计与实现问题.首先,介绍了仿生水下机器人试验模型的设计原则及其系统总体结构,然后重点研究了仿生柔性长鳍、主控模块与通讯系统、运动控制子系统的设计方法、系统构成和工作原理,最后介绍了试验模型的系统测试与航行试验结果及其结论,并指出了仿生水下机器人试验模型的改进重点和柔性长鳍波动推进技术今后的研究方向.基于柔性长鳍波动推进的仿生水下机器人试验模型的研制成功,初步验证了柔性长鳍波动推进方式应用于水下机器人推进控制系统在原理上和技术上是可行的. 相似文献
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仿生机器人的研究状况及其未来发展 总被引:15,自引:1,他引:14
随着机器人研究领域从结构环境向非结构环境的扩展,仿生学对它的影响也日益显
著.本文提出了目前仿生机器人研究的两个主要方向,即:运动机理的研究和行为方式的研
究.探讨了这两个研究方向目前的研究状况,并对其未来的发展趋势作了预测. 相似文献
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王伟 《机器人技术与应用》2005,(6):39-39
生物智能机械系统课题组是中国科学院机器人学重点实验室中的一个研究团队,成立于2001年2月。该课题组以仿生机构、仿生控制理论和方法为主要研究方向,开展仿生机器人系统的研究与虑用。该课题组承担了国家卜五“863”计划、国家自然科学基金、中科院百人计划、中国科学院创新基金等多项课题,主要取得具有影响的研究成果是蛇形机器人、可重构机器人、可变形机器人。目前,正在面向国家需求,积极开展灾难救援机器人系统、星球探测机器人系统的预研工作。 相似文献
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To develop an appropriate research platform, this paper presents the design method for a humanoid which has a network-based modular structure and a standard PC architecture. Based on the proposed method, we developed DARwIn-OP which meets the requirements for an open humanoid platform. DARwIn-OP has an expandable system structure, high performance, simple maintenance, familiar development environment and affordable prices. Not only hardware but also software aspects of open humanoid platform are discussed in this paper. 相似文献
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Reo Matsumura Masahiro Shiomi Takahiro Miyashita Hiroshi Ishiguro Norihiro Hagita 《Advanced Robotics》2015,29(7):469-480
This study addresses a floor identification method for small humanoid robots that work in such daily environments as homes. The fundamental difficulty lays in a method to understand the physical properties of floors. To achieve floor identification with small humanoid robots, we used inertial sensors that can be easily installed on such robots, and dynamically selected a full-body motion that physically senses floors to achieve accurate floor identification. We collected a training data-set over 10 different kinds of common floors in home environments. We achieved 85.7% precision with our proposed method. We also demonstrate that our robot could appropriately change its locomotion behaviours depending on the floor identification results. 相似文献
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Human and Humanoid Dynamics 总被引:2,自引:0,他引:2
M. Vukobratovic V. Potkonjak S. Tzafestas 《Journal of Intelligent and Robotic Systems》2004,41(1):65-84
The questions when and why one needs to use mathematical models, and especially the models of dynamics, represent a still unresolved issue. A general answer would be that dynamic modeling is needed as a tool when designing structure of the system and its control unit. In this case we talk about simulation. The other application is in on-line control of the system – the so-called dynamic control. While for simulation one should generally use the best available model, the control can be based on a reduced dynamics, depending on a particular task. This article considers humans and humanoid robots and addresses a rather important question: what are dynamic effects that one should take care of when modeling and simulating a human or a humanoid? The article suggests the key topics for work and tries to justify them. As a final result a General Human/Humanoid-Dynamics Simulator is seen. 相似文献
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《Advanced Robotics》2013,27(8):723-736
The ultimate goal of the RoboCup Initiative is to build a humanoid soccer team that can beat the human FIFA World Cup champions. In this paper, we presents reasons why this goal should be pursued, and analyze technical issues involved in getting a humanoid to play soccer. The analysis demonstrates the breadth of technologies needed to be developed through the course of the challenge, which has major impacts on industries in general. 相似文献
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