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基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究 总被引:1,自引:1,他引:1
能量作为最基本的物理量之一, 联系着蛇形机器人蜿蜒运动的各个方面. 能量耗散描述了环境交互作用, 能量转换对应着运动的动力学过程, 能量平衡反映了蜿蜒运动的协调性. 提出一种基于能量的蛇形机器人蜿蜒运动控制方法-被动蜿蜒. 通过输出关节力矩控制机器人蜿蜒运动, 由机器人的能量状态调整力矩的大小. 仿真结果显示了被动蜿蜒控制下机器人的构形、角度、力矩、能量状态和转弯特性, 并对控制力矩进行了递归分析. 基于Optotrak运动测量系统构建了被动蜿蜒控制的模拟/物理混合实验系统. 进行了移动实验和拖动实验, 前者改变环境的摩擦特性,后者改变机器人的负载. 仿真和实验验证了蛇形机器人被动蜿蜒控制的有效性和适应性. 相似文献
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基于控制函数的蛇形机器人攀爬运动分析 总被引:1,自引:0,他引:1
为实现对正交关节蛇形机器人多种运动形式的简单、统一控制,从研究蛇形机器人控制函数出发,提出了一种简单的并可同时实现正交关节蛇形机器人蜿蜒运动、行波运动、侧向翻滚运动和螺旋攀爬运动等多种运动形式的控制函数.对蛇形机器人实现螺旋攀爬运动的控制参数进行了分析,并用粒子群优化算法(PSO)对控制参数进行了优化拟合,给出了控制参... 相似文献
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针对生物蛇不同步态的运动特点,提出了一种基于Hopf振荡器实现的蛇形机器人的中枢模式发生器(CPG)运动控制方法.首先,利用具有非线性极限环特性的耦合的Hopf振荡器构建出能够实现蜿蜒运动和侧向蜿蜒运动两种步态的链式网络模型.然后,根据动力学仿真软件建立机器人的虚拟样机,利用模型中振荡器的输出作为蛇形机器人分布式多冗余度关节的控制信号来驱动前进,成功实现了以上两种运动方式,并讨论了CPG的模型参数与机器人前进速度的关系.最后,在实物样机上的实验进一步验证了所提出的方法在实现蛇形机器人多种步态控制方面的有效性. 相似文献
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针对蛇形机器人的蜿蜒运动控制,首先分析了关节角度约束对运动控制函数参数取值的限制,确定了满足机械结构的运动控制参数范围;之后在Adams仿真环境下,建立蛇形机器人的三维虚拟运动模型,进行蜿蜒运动仿真,通过分析幅值控制参数对蛇形机器人弯曲度、运动速度和运动轨迹偏移的影响,提出了调整幅值参数的方法;实验结果表明,调整方法的有效性,从而实现蛇形机器人蜿蜒运动控制的优化。 相似文献
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在面向灾区救援等针对蛇形机器人蜿蜒运动的直线路径跟踪效果差的问题,本项目提出基于滑模控制理论的方向控制器,有效收敛了蛇形机器人在稳态时的运动误差。针对蛇形机器人头部晃动影响头部传感器获取有效数据的难题,创新地提出基于补偿函数的头部控制方法,使得蛇头的运动方向与蛇身整体的运动方向一致,保证了蛇头相机拍摄的可读性和传感器测量的准确性,便于机器人准确地感知环境,确保在转弯时机器人整体呈蛇形曲线。 相似文献
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S. Shaw 《Journal of Computer Assisted Learning》1993,9(2):93-99
Abstract This paper describes an approach to the design of interactive multimedia materials being developed in a European Community project. The developmental process is seen as a dialogue between technologists and teachers. This dialogue is often problematic because of the differences in training, experience and culture between them. Conditions needed for fruitful dialogue are described and the generic model for learning design used in the project is explained. 相似文献
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European Community policy and the market 总被引:1,自引:0,他引:1
C. Lloyd 《Journal of Computer Assisted Learning》1993,9(2):86-91
Abstract This paper starts with some reflections on the policy considerations and priorities which are shaping European Commission (EC) research programmes. Then it attempts to position the current projects which seek to capitalise on information and communications technologies for learning in relation to these priorities and the apparent realities of the marketplace. It concludes that while there are grounds to be optimistic about the contribution EC programmes can make to the efficiency and standard of education and training, they are still too technology driven. 相似文献
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融合集成方法已经广泛应用在模式识别领域,然而一些基分类器实时性能稳定性较差,导致多分类器融合性能差,针对上述问题本文提出了一种新的基于多分类器的子融合集成分类器系统。该方法考虑在度量层融合层次之上通过对各类基多分类器进行动态选择,票数最多的类别作为融合系统中对特征向量识别的类别,构成一种新的自适应子融合集成分类器方法。实验表明,该方法比传统的分类器以及分类融合方法识别准确率明显更高,具有更好的鲁棒性。 相似文献
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Wayne O’Brien Author Vitae 《Journal of Systems and Software》2008,81(11):1997-2013
Development of software intensive systems (systems) in practice involves a series of self-contained phases for the lifecycle of a system. Semantic and temporal gaps, which occur among phases and among developer disciplines within and across phases, hinder the ongoing development of a system because of the interdependencies among phases and among disciplines. Such gaps are magnified among systems that are developed at different times by different development teams, which may limit reuse of artifacts of systems development and interoperability among the systems. This article discusses such gaps and a systems development process for avoiding them. 相似文献
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This paper presents control charts models and the necessary simulation software for the location of economic values of the control parameters. The simulation program is written in FORTRAN, requires only 10K of main storage, and can run on most mini and micro computers. Two models are presented - one describes the process when it is operating at full capacity and the other when the process is operating under capacity. The models allow the product quality to deteriorate to a further level before an existing out-of-control state is detected, and they can also be used in situations where no prior knowledge exists of the out-of-control causes and the resulting proportion defectives. 相似文献
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Going through a few examples of robot artists who are recognized worldwide, we try to analyze the deepest meaning of what
is called “robot art” and the related art field definition. We also try to highlight its well-marked borders, such as kinetic
sculptures, kinetic art, cyber art, and cyberpunk. A brief excursion into the importance of the context, the message, and
its semiotics is also provided, case by case, together with a few hints on the history of this discipline in the light of
an artistic perspective. Therefore, the aim of this article is to try to summarize the main characteristics that might classify
robot art as a unique and innovative discipline, and to track down some of the principles by which a robotic artifact can
or cannot be considered an art piece in terms of social, cultural, and strictly artistic interest.
This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January
31–February 2, 2008 相似文献
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David Poole 《Computational Intelligence》1989,5(2):97-110
Although there are many arguments that logic is an appropriate tool for artificial intelligence, there has been a perceived problem with the monotonicity of classical logic. This paper elaborates on the idea that reasoning should be viewed as theory formation where logic tells us the consequences of our assumptions. The two activities of predicting what is expected to be true and explaining observations are considered in a simple theory formation framework. Properties of each activity are discussed, along with a number of proposals as to what should be predicted or accepted as reasonable explanations. An architecture is proposed to combine explanation and prediction into one coherent framework. Algorithms used to implement the system as well as examples from a running implementation are given. 相似文献
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Watts S. Humphrey 《Annals of Software Engineering》2002,14(1-4):39-72
This paper provides the author's personal views and perspectives on software process improvement. Starting with his first work on technology assessment in IBM over 20 years ago, Watts Humphrey describes the process improvement work he has been directly involved in. This includes the development of the early process assessment methods, the original design of the CMM, and the introduction of the Personal Software Process (PSP)SM and Team Software Process (TSP){SM}. In addition to describing the original motivation for this work, the author also reviews many of the problems he and his associates encountered and why they solved them the way they did. He also comments on the outstanding issues and likely directions for future work. Finally, this work has built on the experiences and contributions of many people. Mr. Humphrey only describes work that he was personally involved in and he names many of the key contributors. However, so many people have been involved in this work that a full list of the important participants would be impractical. 相似文献
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基于复小波噪声方差显著修正的SAR图像去噪 总被引:4,自引:1,他引:3
提出了一种基于复小波域统计建模与噪声方差估计显著性修正相结合的合成孔径雷达(Synthetic Aperture Radar,SAR)图像斑点噪声滤波方法。该方法首先通过对数变换将乘性噪声模型转化为加性噪声模型,然后对变换后的图像进行双树复小波变换(Dualtree Complex Wavelet Transform,DCWT),并对复数小波系数的统计分布进行建模。在此先验分布的基础上,通过运用贝叶斯估计方法从含噪系数中恢复原始系数,达到滤除噪声的目的。实验结果表明该方法在去除噪声的同时保留了图像的细节信息,取得了很好的降噪效果。 相似文献
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R. NOSS 《Journal of Computer Assisted Learning》1987,3(1):2-12
Abstract This paper considers some results of a study designed to investigate the kinds of mathematical activity undertaken by children (aged between 8 and 11) as they learned to program in LOGO. A model of learning modes is proposed, which attempts to describe the ways in which children used and acquired understanding of the programming/mathematical concepts involved. The remainder of the paper is concerned with discussing the validity and limitations of the model, and its implications for further research and curriculum development. 相似文献