高压带电作业双臂机器人系统设计

摘要：传统带电作业采用人工方式,但高空、高压危险作业环境与高劳动强度对作业人员人身安全构成一定威胁。针对10KV配电网带电作业的实际需求,采用12米高液压升降平台和两台协作型六轴机械臂,设计开发了双臂六轴机器人系统。采用ARM嵌入式处理器,设计开发了双臂机器人控制器硬件和软件,根据实际作业应用需求,给出了机械臂运动路径规划方法,通过WiFi无线通讯方式和SOCKET编程实现了对双臂机器人的现场操作控制,采用LoRa无线通讯网络,设计开发了LoRa主站模块和LoRa专用工具模块,采用LoRa定点扫描通讯方式,实现了各工具模块和机器人控制器的相互通讯。在某培训实验基地10KV配电线路上,对带电作业机器人系统进行了现场实验,验证了剥皮、接引流线等各项设计功能,机器人从接收到剥皮指令开始到剥皮作业完成,整个过程用时3分20秒;完成接引流线作业全程用时2分50秒。     

Development of a quadruped walking robot AiDIN-III using biologically inspired kinematic analysis

This paper presents a bio-inspired mechanism design for a quadruped walking robot. The approach is derived from the observation on the behaviors of quadruped locomotion, skeletal structure, and the study on the stability of walking based on morphological analysis. In the first, we define the design parameters such as the dimensions of the body and limbs, the center of mass position, and locomotion mechanisms based on surveys on the literatures from biologists. Then, by using the parameters, we propose an useful framework for determining the design parameters of a quadruped walking robot. For implementations, we manufacture a dog-type self-contained quadruped walking robot, named AiDIN-III (Artificial Digitigrade for Natural Environment version III) and the effectiveness of the proposed idea is validated via experimental works.     

Attentive behavior in an anthropomorphic robot vision system

Powerful data reduction and selection processes, such as selective attention mechanisms and space-variant sensing in humans, can provide great advantages for developing effective real-time robot vision systems. The use of such processes should be closely coupled with motor capabilities, in order to actively interact with the environment. In this paper, an anthropomorphic vision system architecture integrating retina-like sensing, hierarchical structures and selective attention mechanisms is proposed. Direction of gaze is shifted based on both the sensory and semantic characteristics of the visual input, so that a task-dependent attentive behavior is produced. The sensory features currently included in the system are related to optical flow invariants, thus providing the system with motion detection capabilities. A neural network architecture for visual recognition is also included, which produces semantic-driven gaze shifts.     

Pneumatic-driven jumping robot with anthropomorphic muscular skeleton structure

Human muscular skeleton structure plays an important role for adaptive locomotion. Understanding of its mechanism is expected to be used for realizing adaptive locomotion of a humanoid robot as well. In this paper, a jumping robot driven by pneumatic artificial muscles is designed to duplicate human leg structure and function. It has three joints and nine muscles, three of them are biarticular muscles. For controlling such a redundant robot, we take biomechanical findings into account: biarticular muscles mainly contribute to joint coordination whereas monoarticular muscles contribute to provide power. Through experiments, we find (1) the biarticular muscles realize coordinated movement of joints when knee and/or hip is extended, (2) the extension of the ankle does not lead to coordinated movement, and (3) we can superpose extension of the knee with that of the hip without losing the joint coordination. The obtained knowledge can be used not only for robots, but may also contribute to understanding of adaptive human mechanism.     

Growth and repair: Instantiating a biologically inspired model of neuronal development on the Khepera robot

Activity-dependent, developmental synaptic plasticity permits, in part, an animal’s nervous system to be constructed in a way that depends on both the animal’s experiences and its body’s particular morphology. The continuing expression of this plasticity into later life allows constant adaptation of the animal’s nervous system to changes in the animal’s body as it grows and ages, also allowing some recovery from major injury. We instantiate a previously studied model of such neuronal development on a robotic platform to establish whether “developmental robotics” can equip a robot with a nervous system tuned to the robot’s individual morphology and that allows recovery from damage.     

拟人机器人视觉系统的软件设计

清华大学“985”重点科研项目——拟人机器人技术和应用系统研究开发的拟人机器人TBIPR-I包括视觉系统，系统新的软件部分应用了Direct Show技术，采用了组件的形式实现了主要部分。将新旧系统进行了对比，并给出了部分代码实例。     

双臂空间机器人的避自碰轨迹规划研究*

本文针对自由漂浮的双臂空间机器人系统研究了一种基于危险域的避自碰轨迹规划方案。首先,引入危险域的概念,用来评估两个机械臂之间发生碰撞的危险程度。其次,在路径规划的基础之上,利用危险域的反馈信息,设计了一种安全避自碰的轨迹规划方案,用以保证两个机械臂可以运动在安全位型,从而避免发生自碰。最后,针对一个双臂冗余空间机器人系统进行运动仿真,仿真结果验证了本文方法的有效性。     

Design of an underactuated anthropomorphic hand with mechanically implemented postural synergies

Neurology shows that human controls dozens of muscles for hand poses in a coordinated manner and such coordination is referred as to a postural synergy. The concept of postural synergies was recently adopted in the control of robotic hands. With the synergies implemented digitally in a controller, all the motors in an anthropomorphic robotic hand can be controlled via a few synergy inputs. Aiming at exploring alternative approaches for synergy realization, this paper proposes to implement the postural synergies using a mechanical transmission unit. Two rotation inputs can be scaled, combined, and mapped to the rotary outputs to drive an anthropomorphic hand, enabling not only various grasping tasks but also a manipulation motion. Synergy synthesis and design of the anthropomorphic hand are firstly presented. The transmission unit as the implementation of the postural synergies is then elaborated. Tests were performed to quantify how well the synergies could be reproduced via this transmission unit. The results suggest it might be promising to construct a low cost yet versatile prosthetic hand by implementing the postural synergies mechanically.     

Design and implementation of a 6-DOF robot flexible bending system

This study proposed a new design, analytical algorithms, and control of a novel 6-DOF robot flexible bending (RFB) system to manufacture bending components with complex spatial structures. First, a novel 6-DOF RFB system was designed based on the principles of RFB technology. Then, novel analytical algorithms named the incremental analysis algorithm (IAA), and space attitude analysis algorithm (SAAA)) were proposed for the 6-DOF RFB system to analyse the forming procedures of 3D complex-shaped hollow components. According to the IAA, a novel physical prototype and a control program of the 6-DOF RFB were built. The feasibility of the 6-DOF RFB system and the reliability of the IAA were verified by the bending experimentation on the AA6061-T6 spatial spiral tube. The dimensions of the test sample were measured using a 3D optical scanner system to evaluate the forming precision of the established 6-DOF RFB system. The results showed that the 6-DOF RFB system could effectively form complex-shaped hollow components. However, there are still large deviations in the test sample, with an average error of 0.68% in the actual bending angle and an average deviation of 6.93 mm in the spatial axis.     

Modeling, simulation and fuzzy control of an anthropomorphic robot arm by using Dymola

Analysis and fuzzy control of an anthropomorphic robot arm on a special trajectory is the subject of this paper. These types of systems are used in cutting operations on materials, joining materials by welding, material handling in remote and dangerous environments, packing of foods, inspection/testing electronic parts or medical products. This robot arm realizes the handling motion on a special trajectory. In this study, the first three links of Mitsubishi RV-2AJ Industrial Robot, are like an anthropomorphic arm, have been modeled and simulated by using Dymola. Kinematic equations have been obtained and mathematical model of this system has been formed by using Lagrange’s Equations. Fuzzy logic controller for the joint angles for the motion trajectory has been designed and the simulation results have been presented at the end of the study.     

配置弹簧阻尼装置空间机器人双臂捕获卫星操作缓冲柔顺控制

为了避免空间机器人双臂捕获卫星操作过程中关节被冲击载荷破坏,在电机与机械臂之间加入了一种弹簧阻尼装置(SDD).该装置不仅能够吸收、消耗冲击能量,还能配合所设计的缓冲柔顺策略将冲击力矩限在安全范围内.首先,针对捕获前的双臂空间机器人开环系统与目标卫星系统,分别利用耗散力Lagrange方程法与Newton–Euler法...     

Biologically inspired control of quadruped walking robot

In this paper, we present a control method for a quadruped walking robot inspired from the locomotion of quadrupeds. A simple and useful framework for controlling a quadruped walking robot is presented, which is obtained by observing the stimulus-reaction mechanism, the gravity load receptor and the manner of generating repetitive motions from quadrupeds. In addition, we propose a new rhythmic pattern generator that can relieve the large computational burden on solving the kinematics. The proposed method is tested via a dynamic simulation and validated by implementation in a quadruped walking robot, called AiDIN-I (Artificial Digitigrade for Natural Environment I). Recommended by Editorial Board member Sangdeok Park under the direction of Editor Jae-Bok Song. This work was supported by the Korea Research Foundation Grant funded by the Korean Government (MOEHRD) (KRF-2005-D00031). Ig Mo Koo received the B.S. degree in Mechanical Engineering from Myongji University, Yongin, Korea, in 2003, the M.S. degree in Mechanical Engineering from the Sungkyunkwan University, Suwon, Korea, in 2005, where he is currently working toward a Ph.D. degree in Mechanical Engineering from Sungkyunkwan University. His research interests include artificial muscle actuators, haptics, tactile display, biomimetics and quadruped walking robots systems. Tae Hun Kang received the B.S., M.S., and Ph.D. degrees in Mechanical Engineering from Sungkyunkwan University, Korea, in 2000, 2002, and 2006, respectively. His current research interests focus on biomimetics and quadruped walking robot. Gia Loc Vo received the B.S degree in Mechanical Engineering form Ha Noi University of Technology in Vietnam 2003, the M.S. degree Mechanical Engineering form Sungkyunkwan University, Suwon, Korea, in 2006, where he is currently working toward a Ph.D. degree in Mechanical Engineering from Sungkyunkwan University. His research interests include legged locomotion, walking and climbing robot. Tran Duc Trong received the B.S degree in Mechatronics from HoChiMinh City University of Technology in Vietnam in 2005, where he is currently working toward a M.S. degree in Mechanical Engineering from Sungkyunkwan University. His research interests include biological inspired control and adaptive control of quadruped walking robot. Young Kuk Song received the B.S. degree in Mechanical Engineering from Sungkyunkwan University, Suwon, Korea, in 2006, where he is currently working toward a M.S. degree in Mechanical Engineering from Sungkyunkwan University. His research interests include biomimetics, hydraulic robotics system and quadruped walking robot. Hyouk Ryeol Choi received the B.S. degree from Seoul National University, Seoul, Korea, in 1984, the M.S. degree from the Korea Advanced Technology of Science and Technology (KAIST), Daejeon, Korea, in 1986, and the Ph.D. degree from the Pohang University of Science and Technology (POSTECH), Pohang, Korea, in 1994. Since 1995, he has been with Sungkyunkwan University, Suwon, Korea, where he is currently a Professor in the School of Mechanical Engineering. He was an Associate Engineer with LG Electronics Central Research Laboratory, Seoul, Korea, from 1986 to 1989. From 1993 to 1995, he was with Kyoto University, Kyoto, Japan, as a grantee of scholarship funds from the Japanese Educational Administry. He visited the Advanced Institute of Industrial Science Technology (AIST), Tsukuba, Japan, as a JSPS Fellow from 1999 to 2000. He is now an Associate Editor in IEEE Transactions on Robotics, Journal of Intelligent Service Robotics, International Journal of Control, Automation and Systems (IJCAS). His interests includes dexterous mechanisms, field application of robots, and artificial muscle actua tors.     

In the footsteps of Leonardo [articulated anthropomorphic robot]

Leonardo da Vinci's powerful approach of linking kinesiology and anatomy, and translating them into kinematics and structure is a model for future lines of research. This application of Leonardo's approach has lead to the development of a new kinematic architecture that is being used to meet NASA's requirements for a robotic surrogate to aid astronauts in space station construction, maintenance and expansion. Various commercial applications are envisaged for the robotic surrogate     

The value of multiple independent robot arms

When multiple independent robot arms attempt to perform concurrent operations at the same work cell, spatial interference imposes limits on the degree of parallelism that can be achieved. It is shown that as the number of independent arms approaches infinity, the degree of parallelism is bounded. Mathematical limiting values are derived for the extent of parallelism for two cases of an idealized simplistic application. The main value of these results is to demonstrate that under conditions of spatial contention, there is little merit in having more than two independent arms at a work cell. Designing the work cell to reduce contention increases the value of multiple independent arms.     

On tracking control of flexible robot arms

A controller for solving the tracking problem of flexible robot arms is presented. In order to achieve this goal, the desired trajectory for the link (flexible) coordinates is computed from the dynamic model of the robot arm and is guaranteed to be bounded, and the desired trajectory for the joint (rigid) coordinates can be assigned arbitrarily. The case of no internal damping is also considered, and a robust control technique is used to enhance the damping of the system     

Realization of sign language motion using a dual-arm/hand humanoid robot

The recent increase in technological maturity has empowered robots to assist humans and provide daily services. Voice command usually appears as a popular human–machine interface for communication. Unfortunately, deaf people cannot exchange information from robots through vocal modalities. To interact with deaf people effectively and intuitively, it is desired that robots, especially humanoids, have manual communication skills, such as performing sign languages. Without ad hoc programming to generate a particular sign language motion, we present an imitation system to teach the humanoid robot performing sign languages by directly replicating observed demonstration. The system symbolically encodes the information of human hand–arm motion from low-cost depth sensors as a skeleton motion time-series that serves to generate initial robot movement by means of perception-to-action mapping. To tackle the body correspondence problem, the virtual impedance control approach is adopted to smoothly follow the initial movement, while preventing potential risks due to the difference in the physical properties between the human and the robot, such as joint limit and self-collision. In addition, the integration of the leg-joints stabilizer provides better balance of the whole robot. Finally, our developed humanoid robot, NINO, successfully learned by imitation from human demonstration to introduce itself using Taiwanese Sign Language.     

A taxonomy of biologically inspired research in computer networking

The natural world is enormous, dynamic, incredibly diverse, and highly complex. Despite the inherent challenges of surviving in such a world, biological organisms evolve, self-organize, self-repair, navigate, and flourish. Generally, they do so with only local knowledge and without any centralized control. Our computer networks are increasingly facing similar challenges as they grow larger in size, but are yet to be able to achieve the same level of robustness and adaptability. Many research efforts have recognized these parallels, and wondered if there are some lessons to be learned from biological systems. As a result, biologically inspired research in computer networking is a quickly growing field. This article begins by exploring why biology and computer network research are such a natural match. We then present a broad overview of biologically inspired research, grouped by topic, and classified in two ways: by the biological field that inspired each topic, and by the area of networking in which the topic lies. In each case, we elucidate how biological concepts have been most successfully applied. In aggregate, we conclude that research efforts are most successful when they separate biological design from biological implementation – that is to say, when they extract the pertinent principles from the former without imposing the limitations of the latter.     

On biologically inspired predictions of the global financial crisis

Early-warning models provide means for ex ante identification of elevated risks that may lead to a financial crisis. This paper taps into the early-warning literature by introducing biologically inspired models for predicting systemic financial crises. We create three models: a conventional statistical model, a back-propagation neural network (NN) and a neuro-genetic (NG) model that uses a genetic algorithm for choosing the optimal NN configuration. The models are calibrated and evaluated in terms of usefulness for policymakers that incorporates preferences between type I and type II errors. Generally, model evaluations show that biologically inspired models outperform the statistical model. NG models are, however, shown not only to provide largest usefulness for policymakers as an early-warning model, but also in form of decreased expertise and labor needed for, and uncertainty caused by, manual calibration of an NN. For better generalization of data-driven models, we also advocate adopting to the early-warning literature a training scheme that includes validation data.     

3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control

This paper has proposed a parallel-wire driven robot (PWDR) with an active balancer, which is notably useful for such applications as ceiling maintenance and object conveyance near a ceiling in a factory. Because this robot is an under-actuated system, the uncertainty of the inertial parameters of the load strongly affects the resultant motion and reduces the control accuracy because of the dynamics interference. However, to date, the dynamics of this robot has not been thoroughly elucidated. Thus, this study analyzes the dynamics of a PWDR that controls three degree-of-freedom using two wires and an active balancer. Moreover, based on the dynamic analysis, a model-based adaptive controller for the parameter uncertainty of a load is proposed, and its effectiveness is demonstrated through simulation.