轮腿式机器人倾覆稳定性分析与控制

对于运动在不平坦地形中的移动机器人而言,其倾覆稳定性非常关键．设计了一种结构对称的轮腿式机器人,它有4个独立的轮腿运动单元,能够变化多种构形．采用动态能量稳定锥方法和倾覆稳定性指数对机器人的稳定性进行综合评价,建立了一个模糊神经网络自适应控制系统．根据稳定性指数值,该系统可以实时改变机器人的构形和速度,保证其倾覆稳定性．正弦路面上的仿真结果表明,该系统所产生的动作实时性好、可靠性高,能够降低机器人自主越障过程中的危险．     

腹腔微创手术机器人末端执行机构的设计和实现

为了提高腹腔微创手术的安全性,设计了一种新型的腹腔微创手术机器人末端执行机构,用于夹持手术器械．根据腹腔微创手术的特点和技术要求,采用轴驱动和平行四杆的运动原理设计定点机构．详细介绍了末端执行机构的机械结构,应用D-H法和矢量代数法给出了各个关节的运动学解公式,研究了控制系统的硬件结构和软件系统,并进行了样机实验．实验表明所设计的末端执行机构具有很好的定点运动效果,能够较好地完成手术规划,满足腹腔微创手术要求．     

四腿机器人步态参数自动进化研究与实现

采用进化算法和基于自主视觉的适应度评估方法,实现了四腿机器人在RoboCup机器人足球比赛现场的行走步态在线自动进化．我们引入内推法作为交叉方法,利用PC基站进行进化算法计算和流程主控,并采用了一些学习时间缩减策略．实现了进化学习的连续性和可扩展性,使得学习过程可以在4060min内完成,这样就能在比赛现场对ERS-7四足机器人进行行走再学习,提高了行走控制的适应性．算法最终结果使ERS-7型四足机器人的行走速度从27cm/s提升到43cm/s．     

基于ADAMS的双足机器人拟人行走动态仿真

在双足机器人HEUBR_1的设计中,下肢采用了一种新的串并混联的仿人结构,并在足部增加了足趾关节.为验证该仿人结构设计的合理性及拟人步态规划的可行性,在ADAMS虚拟环境中建立了双足机器人HEUSR_1的仿真模型.通过拟人步态规划生成了运动仿真数据,在ADAMS虚拟环境中实现了具有足趾运动的拟人稳定行走,经仿真分析,获得了双足机器人HEUBR_1拟人行走步态下的运动学和动力学特性,仿真结果表明:双足机器人HEUBR_1的串并混联的仿人结构设计能够满足行走要求,且拟人步态规划方法可行,有足趾运动的拟人行走具有运动平稳、能耗低、足底冲击力小的特点.稳定行走的仿真步态数据可为下一步双足机器人HEUBR_1样机行走实验提供参考数据.     

Design and analysis of turnover platform for welding robot北大核心CSCD

A turnover platform for welding robot was designed for the application of welding robot with lower accuracy requirement, which was of low cost and higher position accuracy. In this turnover platform, the pneumatic motor was used as the power output, and the indexing mechanism with high accuracy was the transmission system with high transmitting ratio based on worm and wheel. The position information was acquired by using the photoelectric encoder, and the turnover motion with high accuracy was realized through the closed-loop controller. Simulation results showed that the maximum speed of the welding platform approached 14 r/min, and the platform could meet the requirements of most welding products. Such a turnover platform can offer the application program of the welding robot with low cost for the middle and low level products, and reduce the cost of welding robot and improve welding productivity.     

Improving traversability of quadruped walking robots using body movement in 3D rough terrains

This paper presents a study on improving the traversability of a quadruped walking robot in 3D rough terrains. The key idea is to exploit body movement of the robot. The position and orientation of the robot are systematically adjusted and the possibility of finding a valid foothold for the next swing is maximized, which makes the robot have more chances to overcome the rough terrains. In addition, a foothold search algorithm that provides the valid foothold while maintaining a high traversability of the robot, is investigated and a gait selection algorithm is developed to help the robot avoid deadlock situations. To explain the algorithms, new concepts such as reachable area, stable area, potential search direction, and complementary kinematic margin are introduced, and the effectiveness of the algorithms is validated via simulations and experiments.     

大型喷浆机器人的工作空间分析

对机器人工作空间的求解方法进行对比研究。针对大型喷浆机器人的具体特点 ,使用蒙特卡洛法分析其工作空间 ,取得了良好的效果。     

Path-planning and navigation of a mobile robot as discrete optimization problems

There is huge diversity among navigation and path-planning problems in the real world because of the enormous number and great variety of assumptions about the environments, constraints, and tasks imposed on a robot. To deal with this diversity, we propose a new solution to the path-planning and navigation of a mobile robot. In our approach, we formulated the following two problems at each time-step as discrete optimization problems: (1) estimation of a robot's location, and (2) action decision. For the first problem, we minimize an objective function that includes a data term, a constraint term, and a prediction term. This approach is an approximation of Markov localization. For the second problem, we define and minimize another objective function that includes a goal term, a smoothness term, and a collision term. Simulation results show the effectiveness of our approach. This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28, 2000     

A distributed control scheme for multiple robotic vehicles to make group formations

This paper presents a novel distributed control scheme of multiple robotic vehicles. Each robotic vehicle in this scheme has its own coordinate system, and it senses its relative position and orientation to others, in order to make group formations. Although there exists no supervisor and each robotic vehicle has only relative position feedback from the others in the local area around itself, all the robotic vehicles are stabilized, which we have succeeded in proving mathematically only in the cases where the attractions between the robots are symmetrical. Each robotic vehicle especially has a two-dimensional control input referred to as a “formation vector” and the formation is controllable by the vectors. The validity of this scheme is supported by computer simulations.     

Vehicle Teleoperation Interfaces

Despite advances in autonomy, there will always be a need for human involvement in vehicle teleoperation. In particular, tasks such as exploration, reconnaissance and surveillance will continue to require human supervision, if not guidance and direct control. Thus, it is critical that the operator interface be as efficient and as capable as possible. In this paper, we provide an overview of vehicle teleoperation and present a summary of interfaces currently in use.