基于P2P的移动机器人远程控制系统

将机器人远程控制技术与Internet相结合,引入NAT穿越技术,设计一种基于P2P结构的机器人远程控制方案,并在模拟广域网环境下,搭建P2P移动机器人远程控制系统平台。系统实现对移动机器人的远程P2P控制,将移动机器人反馈的视频数据加以显示,有效利用有限的带宽资源,扩大远程控制端对机器人的控制范围。运行及时延测试结果表明,该系统具有较好的通用性与实时性。     

移动机器人的Android远程控制终端软件设计

针对移动机器人设计了基于Android平台的远程控制终端软件,利用Wi-Fi实现控制终端和移动机器人的无线通信。移动机器人带有基于惯性传感器和和里程计的惯性定位系统。机器人把自身惯性定位测得的位置参数传回给控制终端,通过在控制终端平板电脑上可以看到移动机器人所处的位置,并对机器人的动作发出指令,实现对移动机器人的远程监测与控制。实验结果表明,该远程控制终端能对移动机器人进行位置显示和有效控制。     

遥自主移动机器人系统设计及实现

为了解决移动机器人在特定环境下自主性不强的问题,构建了自主移动机器人的遥操作控制系统。通过无线网络传输的通信方式实现了经过透视解算展开后的全景图像的传输和基于USB操纵杆的多功能远程控制平台的开发。详细介绍了机器人利用超声波传感器进行自主模糊避障的算法,利用USB操纵杆对机器人遥操作的程序实现,以及全景摄像头透视解算和视频压缩的方法。实验结果表明,构建的遥操作控制系统可以实现良好的人机交互,使移动机器人的自主性更强,更加智能化。     

基于大数据聚类的移动机器人运动跟踪控制系统设计

目前研究的移动机器人运动跟踪控制系统控制过程易受到外界扰动影响,导致控制稳定性较差,运动跟踪准确性较差,为此,基于大数据聚类算法设计了一种新的移动机器人运动跟踪控制系统。硬件部分主控制器负责远程无线通讯,图像采集的数据传输和舵机驱动连接,驱动控制器为机器人行走提供动能保证;远程控制模块负责数据,图像和指令的传输;舵机控制模块机器人的行走、转向;软件部分首先通过大数据聚类的方法分析机器人移动步态,根据运动超声波传感器原理判定障碍物位置,考虑移动机器人运行状态与足端轨迹,构建机器人行走控制模型。通过髋关节调节机器人姿态,消除外部扰动对机器人姿态和运动速度的影响,得到抗扰动控制模型。实验结果表明,所设计系统在对机器人运动控制的稳定性及对抗外界扰动方法具有较好的性能,能够实现对移动机器人运动的准确跟踪。     

基于Server Push技术的机器人远程控制方法研究

提出了一种基于Server Push技术(服务器推技术)实现的机器人远程控制方法,并利 用该方法建立了一种新型的开放的基于Internet的机器人远程控制系统模型.该模型实现了实 时的远程数据采集及高速的控制信号响应,更适合进行在线实时机器人远程控制.基于该系统, 完成了以六自由度关节机器人为对象的远程控制试验,试验表明该模型系统在信号采集的实时 性、控制指令响应时间等系统参数均优于传统系统.     

移动机器人网络控制的实现

实现一个基于C／S模式的网络移动机器人控制系统,用户可以通过网络控制机器人移动。该系统可分为三部分：视频监控模块、远程控制、状态信息的反馈和处理。其中,为了实现视频的实时传输,将先用M—JPEG压缩技术对原始视频进行压缩,然后通过RTP协议来进行传输。为了使用户的指令能及时有效传输给机器人,采用面向连接的Socket技术。为了使操作者,更加直观的感觉到机器人的移动效果,实时地描绘机器人的行走线路图。最后介绍了移动机器人网络控制实验系统的设计及实验结果。     

基于无线网络的嵌入式机器人控制系统

随着网络的飞速发展,基于网络的机器人远程控制日益受到了人们的重视;同时以往的基于各类单片机的移动机器人已经不能满足当前机器人发展的需要.有鉴于此,本文提出基于嵌入式系统和无线网络的移动机器人的远程任务重构和远程实时控制解决方案.系统以ARM9嵌入式LINUX系统作为移动机器人主控器,其对下位运动控制器的精确运动控制通过串口通信实现,与远程PC机之间的无线通信通过LINUX系统下的SOCKET网络通信建立的嵌入式服务器实现.实验证明,基于网络的嵌入式控制系统在机器人中的应用大大提高了机器人的处理能力和通信能力,增强了机器人的智能性.     

一种多模式全向移动机器人攀爬楼梯的步态

针对移动机器人在户外运动中所遇到的台阶、楼梯等复杂地形,设计了一种可攀爬楼梯的多模式全向移动机器人。通过切换运动模态,该机器人既能像传统移动机器人一样快速移动,又具备了足式机器人的越障能力。首先,分析并构建了多模式全向移动机器人的运动学模型;其次,研究了该机器人越障能力和质心位置之间的关系并计算了该机器人可以翻越台阶的...     

移动机器人虚拟仿真平台设计与实现

机器人的三维仿真在机器人的研究中起着重要作用,论文以实验室中的移动机器人为背景,利用3D Studio Max建立了该移动机器人的三维实体模型(3DS模型),然后以VC++6.0为开发工具,利用C++编程功能,并调用OpenGL函数,实现机器人模型在编译环境下的重绘;而且根据移动机器人在指定路径下的运动学坐标变化,给出控制移动机器人的运动的方法;文中创建的虚拟实验环境为研究机器人提供了一个生动形象的仿真平台,为进一步研究移动机器人控制算法和路径规划创造了条件。     

自主式微小型移动机器人的自动避障行为研究

针对多微小型移动机器人工作环境的模型未知或不确定,以及该机器人本身 的某些限制,采用基于行为的研究方法,实现了自行设计的自主式微小型移动机器人在未知 、动态环境中的自动避障,设计了该机器人的障碍物回避行为,采用了电机神经元网络选择 机器人的自动避障动作,并用增强式学习的动作评判结果在线修改网络的权值,结合机器人 的漫步行为,采用机器人的安全漫步任务验证了该方法的有效性．     

Whole Body Motion Noise Cancellation of a Robot for Improved Automatic Speech Recognition

The motors of a robot produce ego-motion noise that degrades the quality of recorded sounds. This paper describes an architecture that enhances the capability of a robot to perform automatic speech recognition (ASR) even as the entire body of the robot moves. The architecture consists of three blocks: (i) a multichannel noise reduction block, consisting of microphone-array-based sound localization, geometric source separation and post-filtering, (ii) a single-channel template subtraction block and (iii) an ASR block. As the first step of our analysis strategy, we divided the whole-body motion noise problem into three subdomains of arm, leg and head motion noise, according to their intensity levels and spatial location. Subsequently, by following a synthesis-by-analysis approach, we determined the best method for suppressing each type of ego-motion noise. Finally, we proposed to utilize a control module in our ASR framework; this module was designed to make decisions based on instantaneously detected motions, allowing it to switch to the most appropriate method for the current type of noise. This proposed system resulted in improvements of up to 50 points in word correct rates compared with results obtained by single microphone recognition of arm, leg and head motions.     

AS-R移动机器人的动态避障与路径规划研究

针对移动机器人的动态避障和路径规划问题,以AS-R移动机器人为平台,设计了一种基于行为分析的动态避障策略。根据避障问题将移动机器人整个运行过程中的行为划分成趋向目标行为、避障行为、沿墙走行为及紧急避障4种行为,有效实现了机器人的动态避障,并解决了两种避障难题:左右摆动问题和凹型障碍物问题。利用多传感器结合检测方法,通过红外传感器减少盲区和镜面反射带来的误差,通过间隔采样或分组采样技术避免多路串扰问题;对均值滤波与中值滤波进行实验对比后,提出一种递推型中值滤波方法,从而提高了数据在空间和时间上的连续性,有效地减少了超声波随机串扰信号及其它干扰信号,进而提高了探测模块的准确度。最后设计了几种复杂环境下机器人的动态避障和路径规划,并验证了所提方法的有效性。     

Remote control of space robots

A method for the remote control of a space robot is proposed for the case of large delays in the transmission of control signals from the Earth to the local robot control system and in feedback signals. The method involves the use of the model of the space robot and its current environment with the simulation of gravity conditions at the ground control center. In this model environment, the operator should carry out the required actions by controlling the space robot model in the master-slave mode using an arm with six degrees of freedom capable of reflecting the interaction force of a model robot working tool with models of the objects of the environment. The arm movement trajectory and the law of time variation of the reflected interaction force vector are program-based for the local space robot control system and should be executed by it upon reception from the ground control center. The robot’s possible erroneous actions generated by the inevitable inaccuracy of the environment model are compensated by the proposed method of programmed trajectory correction. In accordance with it, in order to generate correction signals, additional information received from different sensors is used. These sensors can be installed on both the model and space robot itself. This information includes data on the mutual position of a robot’s working tool and models of the objects of the environment, as well as on the interaction forces between them. The paper presents a detailed theoretical justification of the proposed approach and experimental results that confirm the theoretical conclusions.     

Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method.     

Development of a remote control system for construction machinery for rescue activities with a pneumatic robot

Rescue activities at disaster sites often require the remote control of construction machinery to ensure the safety of the workers. A pneumatic 6-d.o.f. robot arm was developed to achieve the remote control of construction machinery. A lightweight fiber-knitted-type pneumatic artificial rubber muscle was selected as the actuator for the arm after considering portability and installation issues. A control system was then designed to remotely operate the pneumatic robot arms. The system consists of the slave and master side. The slave side is composed of two robot arms, a control box, a power generator and an air compressor. The master side consists of two joysticks and a laptop PC. A wireless LAN was employed to achieve the remote control. Construction machinery was retrofitted with the pneumatic robot and field tests were performed at a real construction site. The operation times using remote control and direct operation were compared. The results confirmed the effectiveness of the proposed system.     

Human-robot cooperation control for installing heavy construction materials

Previously, ASCI (Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.     

一种基于SSVEP的仿人机器人异步脑机接口控制系统

设计了稳态视觉诱发电位(SSVEP)空闲状态检测的特征提取方法,建立了基于SSVEP的异步脑机接口二级分类器结构,开发了基于TICC2430芯片的无线传感器网络模块,实现了机器人控制命令的远程传送,使该仿人机器人系统具有脑电控制、语音交互、游戏手柄交互、机器视觉与避障等功能.通过SSVEP窄闲状态检测实验验证了脑机接口...     

网络服务质量动态监测的远程机器人控制

为了有效地控制远程机器人 ,提高机器人的运动控制精度 ,通过测量网络动态性能 ,得到了网络服务质量参数 ;通过排队网络模型求解 ,得出远程机器人在线控制参数 ;通过对远程移动机器人的控制实验 ,验证了本控制算法的可行性 .本控制算法可以推广应用于对其它网络设备的远程监控     

机器人远程控制视频传输的实时性问题解决策略

分析了机器人远程控制中视频传输的延时问题。提出了一种混合的网络传输拓扑结构，并对传输速率的控制算法进行了移植和改进。利用NS模拟网络环境，在模拟网络中进行数据传输，验证了控制速率算法的可行性。试验结果表明在混合网络拓扑结构上使用控制速率的算法可以减少传输过程中的丢包率，提高视频传输的实时性。