四足宠物机器狗动态步行规划与仿真

以四足宠物机器狗爱赛比为研究对象,分析机器狗步行机构组成,建立关节结构模型,根据仿生学原理对四足机器狗的对角线一致的步态运动进行了分析与规划,利用Matlab对步态规划进行了仿真并采用关节控制器验证了对角线一致的步态运动分析与规划的正确性。步态规划为四足机器人实现高速行走提供了一种可行的方法。     

异类粒子群算法的机械臂轨迹多目标规划

为了减少机械臂工作过程中的耗时、耗能和冲击,提出了基于异类粒子群算法的机械臂轨迹多目标规划方法。建立了7自由冗余机械臂运动学模型和优化模型;以传统粒子群算法为基础,根据学习信息的不同来源,设计了4种粒子进化行为,根据粒子当前状态计算不同进化行为的当前价值和未来价值,根据当前价值和未来价值的综合价值计算不同进化行为的选择概率,从而完成了异类粒子群算法的构造。以耗时最少单目标优化为例,与传统粒子群算法相比,异类粒子群算法不仅收敛速度快,而且优化程度提高了27.48%;使用异类粒子群算法对机械臂轨迹进行多目标综合优化,给出了Pareto最优前沿面,可根据不同需求和优化重心从中选择优化结果。     

机器人装配作业主被动复合柔顺的CMAC系统

文章研制了一维搜索手腕,提出了一种称为"一维搜索"的机器人装配作业主被动复合柔顺策略,将主动搜索自由度降低到一维,同时最大限度的利用被动柔顺.设计了以装配力信号为输入的小脑模型神经网络,建立了机器人复合柔顺装配作业的CMAC系统,收到良好的装配效果.     

基于嵌入式视觉的子机器人入舱方法

提出一种基于嵌入式视觉的子机器人入舱方法, 用于子母式机器人系统中对子机器人的回收. 子机器人基于自身嵌入式平台捕获和处理入口处的引导标识图像, 根据局部颜色排布特征快速提取出标识中心, 利用最小二乘法拟合水平颜色交界线的成像斜率, 基于成像斜率-视偏角模型判别出子机器人航向与入口平面的法线关系, 从而进行运动决策使二者重合以完成入舱. 该方法无需摄像头标定和航迹测量即可准确入舱, 仿真实验验证了所提出方法的有效性.

     

机械式仿骨骼肌变刚度机构原理及设计

随着物理性人机交互的增加,人机安全性等问题引起关注.应用于机器人关节中的机械式仿骨骼肌变刚度机构因其能够模仿骨骼肌的变刚度特性,故可以解决人机安全性和未知环境适应性等问题.通过对国外机器人变刚度关节结构设计的研究,总结了机械式仿骨骼肌变刚度机构的非线性变刚度原理,将其结构设计实现方法分为5类,并分析了这5类结构设计实现的优缺点,为设计安全性高、适应性强的机器人提供参考和依据.     

仿鱼长鳍波动推进水下航行器研究进展与分析

作为一种新型水下机器人,仿鱼长鳍波动推进水下航行器具有噪声低、机动性好等传统水下航行器无法比拟的优点,并得到相关研究人员的广泛关注。本文主要介绍了国内外在仿鱼长鳍波动推进水下航行器推进机理和系统研制方面开展的主要研究工作,在此基础上,分析总结了提升仿鱼长鳍波动推进水下航行器性能需要深入讨论和研究的一些问题。     

Development of wheel-less snake robot with two distinct gaits and gait transition capability

Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-constricted and narrow space environments, respectively, but for straight line locomotion only. A gait transition algorithm is developed to efficiently change the gait from one to another. This study includes the investigation on kinematics analysis followed by dynamics analysis while considering related structural constraints for both gaits. The approach utilizes the speed of the serpentine gait for open area locomotion and exploits the narrow space access capability of the wriggler gait. Hence, it can increase motion flexibility in view of the fact that the robot is able to change its mode of locomotion according to the working environment.     

全局视觉水中机器人竞赛中击球部位的研究

击球部位的选择在水中机器人比赛中起着重要作用。本文简要介绍了机器鱼水球比赛以及机器鱼的结构,并运用高等数学上的分类讨论方法对机器鱼在不同区域、不同状态、不同位置区时的较优击球部位进行了研究分析,为比赛人员编写比赛策略提供了一些借鉴和帮助。     

<Emphasis Type="Italic">HumanPT</Emphasis>: An Open-source,HumanPT Architecture-based,Robotic Application for Low Cost Robotic Tasks

In this paper, first HumanPT architecture for low cost robotic applications is presented. HumanPT architecture differs than other architectures because it is implemented on existing robotic systems (robot  robotic controller) and exploits the minimum communication facilities for real-time control that these systems provide. It is based on well-known communication methods like serial communication (USB, RS232, IEEE-1394) and windows sockets (server–client model) and permits an important number of different type of components like actuators, sensors and particularly vision systems to be connected in a robotic system. The operating system (OS) used is Microsoft Windows, the most widely spread OS. The proposed architecture exploits features of this OS that is not a real-time one, to ensure – in case that the robotic system provide such a facility – control and real time communication with the robotic system controller and to integrate by means of sensors and actuators an important number of robotic tasks and procedures. As implementation of this architecture, HumanPT robotic application and experimental results concerning its performance and its implementation in real tasks are provided. HumanPT robotic application, developed in Visual C++, is an integrated, but simultaneously an open-source software that can be adapted in different types of robotic systems. An important number of robotic tasks or procedures including sensors and particularly vision systems can be generated and executed. Small enterprises by means of the proposed architecture and the open source software can be automated at low cost enhancing in this way their production.