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从1959年第一台工业机器人诞生以来,科学家就一直痴迷于机器人的设计与幻想。不过,机器人的出现是为了协助或替代人类进行更好的工作,现在大多数的机器人仍然是硬邦邦的“硬汉”。对于机器人来说,“硬”还是“软”的选择是近年来才出现的一个问题。人类正在不断扩展自己的想象力和创造力,开发出软萌如“大白”的机器人,这种利用柔性材料来制作的机器人,被称为软体机器人。 相似文献
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《大科技.科学之谜》2015,(12)
<正>如果说机器人有妈妈,那多半是一种比喻的说法,因为机器人是人造的。但现在真有科学家研制出了机器人妈妈,这是一种能独立制造机器人的母体机器人。虽然被称为机器人妈妈,但是它还只是一种机械臂,并不具备人形外观。这个机器人妈妈会根据指令制造出具备移动能力的机器人宝宝,每一个机器人宝宝都拥有1到5个代码组合而成的可配置 相似文献
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《大科技.科学之谜》2013,(10):58-59
2013年第8期彭越读者问:未来机器人有可能被大量制造出来,如果哪一天人类灭亡了,机器人会不会统治世界?我想机器人是不会统治世界的。在最后一个地球人临死前,所有的机器人都会尽全力保护他,这是必然的,因为机器人不能看到人类受伤害而袖手旁观,每一个机器人的生产目的都是为人类服务,一旦没有了人类,它们存在的意义也就荡然无存。当然它 相似文献
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自机器人诞生之初人类便一直存在着“机器人恐惧症”的想法,但机器人真的快征服地球了吗?真正伤脑筋的,是所谓的“人工智能”。但在担心机器人比人类聪明使人类失去存在的必要,或是机器人奴隶反抗人类主人之前,我们先要问的是,人工智能有可能吗?还是先来看看机器人的历史吧! 相似文献
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Nicola Greggio Author Vitae Emanuele Menegatti Author Vitae 《Journal of The Franklin Institute》2009,346(5):500-519
In this paper, we illustrate the development of a realistic simulation of a humanoid robot model in a virtual environment using USARSim (Urban Search and Rescue Simulator). USARSim provides an accurate 3D simulation of a virtual environment with a detailed rendering and a realistic physics. Moreover, USARSim allows users to observe the virtual environment from different views. One of these is the egocentric view, which can simulate the camera mounted on the robot. The small humanoid robot presented in this work is Robovie-M, developed by VStone Ltd. (Japan). This robot is used by our team Artisti in the RobotCup soccer competitions.Reported experiments compare the behaviors of a real robot and of its virtual model, when controlled by the same control software to asses the possibility to faithfully simulate a robot with 22 degrees of freedom in USARSim. Moreover, we discuss the possibility to close the control loop of the robot in simulation, by simulating also the main robot sensor, i.e. the camera.The experiments show that USARSim, despite being a simple simulator based on a low cost computer game, provides an accurate enough simulation of the physics and a realistic rendering of the 3D scene enabling a faithful simulation of a small humanoid robot at low cost. Thus, one can entirely test the robot software modules in the simulation (namely: the motion control modules, the vision system modules and, by closing the robot control loop in simulation, the behavior and behavior-selection modules). 相似文献
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《Journal of The Franklin Institute》2023,360(12):9015-9027
This paper studies the coverage control problem of unicycle mobile robot network with external disturbance in the dynamic environment. The environment model is described by a time-varying density function, which is not known by the robot network. An observation method is proposed to approximate the unknown density function. It is proved that the density approximated by the robot network converge to the real density and the consensus of coefficient vector is realized in the robot network. Based on the approximated density function, a robust coverage control is successfully designed to drive the unicycle robot network to the optimal configuration and the coverage of the task region is optimized. Finally, the effectiveness of observation method and robust control are shown by simulation results. 相似文献
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多仿生机器鱼群体及单体控制体系结构的研究 总被引:1,自引:0,他引:1
多仿生机器鱼群体协作与控制的研究,是针对未来仿生机器鱼在水下作业、海洋考察、军事侦察等方面的实际应用而开展的相关理论和关键技术的研究。控制体系结构是其中很重要的一个研究内容,也是今后进一步开展研究工作的基础。考虑到机器鱼自主性和协作性的要求,本文给出了多仿生机器鱼群体和单体控制体系结构,并重点讨论了单体控制体系结构。该体系结构是混合分层的,具有较好的开放性,便于功能的扩展 相似文献
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Javier Moreno-Valenzuela 《Journal of The Franklin Institute》2007,344(8):1021-1038
In the velocity field control approach the robot motions are specified through a vectorial function that assigns the desired velocity to each point of the configuration space. In other words, a velocity field defines the robot desired velocity in the operational space as a function of its current position. In this paper is introduced a new algorithm to solve the velocity field control formulation in the robot operational space. The proposed approach assumes only joint position measurements and is based on a hierarchical structure that results of using the kinematic control concept and a joint velocity controller. To estimate the joint velocity, nonlinear filtering of the joint position is used. 相似文献
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Generally speaking, the mobile robot is capable of sensing its surrounding environment, interpreting the sensed information to obtain the knowledge of its location and the environment, and planning a real-time trajectory to reach the object. In this process, the issue of obstacle avoidance is a fundamental topic to be challenged. Thus, a switching path-planning control scheme is designed without detailed environmental information, large memory size, and heavy computation burden in this study for the obstacle avoidance of a mobile robot. In this scheme, the robot can gradually approach its object according to the motion tracking mode, obstacle avoidance mode, self-rotation mode, and robot state selection designed by learning and expert rules for enhancing the tracking speed and adapting to different environments. The effectiveness of the proposed adaptive path-planning control scheme is verified by numerical simulations and experimental results of a differential-driving mobile robot under the possible occurrence of obstacle shapes. 相似文献
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A direct approach to path planning of a 2-DOFs (Degrees of Freedom) spherical robot based on Bellman?s dynamic programming (DP) is introduced. The robot moves in an environment with obstacles and employs DP to find optimal trajectory by minimizing energy and preventing obstacle collision. While other path planning schemes rely on pre-planned optimal trajectories and/or feedback control techniques, in this approach there is no need to design a control system because DP yields the optimal control inputs in a closed loop (feedback) form. In other words, after completing the DP table, the optimal control inputs are known for every state in the admissible region and the robot can move toward the final position without colliding with obstacles. This enables the robot to function well in semi- or even non-observable environments. Results from several simulated experiments show that the proposed approach is capable of finding an optimal path from any given position/orientation towards a predefined target in an environment with obstacles within the admissible region. The method is very promising compared to other path planning schemes. 相似文献
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文章提出了一种基于ARM处理器的家用清洁机器人控制系统,包括硬件设计和软件设计。硬件部分包括主控器模块、电源及欠压检测模、传感器模块、人机交互模块、驱动模块以及清洁模块。软件部分设计了清洁机器人的主要控制流程。该控制系统以通用性和功能完备为目标,使机器人具备智能清洁能力。 相似文献
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文章通过对国内外农业机器人发展情况调研,分析了目前农业机器人具有的作业季节性、作业环境复杂性、作业对象娇嫩性和复杂性、使用对象特殊性等几大特点,根据农业机器人解决问题的侧重点差异将农业机器人大致分为行走系列农业机器人和机械手系列机器两大类,并介绍和总结了各类机器人的功能,同时介绍了我国各类农业机器人、以及日本、美国和其他国家具有代表性的农业机器人,指出目前农业机器人推广与普及的瓶颈主要是农业机器人制造成本问题和农业机器人智能化程度问题。最后对农业机器人发展趋势进行讨论,提出今后农业机器人应侧重于开放式的结构及控制系统,农业生产标准化研究与机器人技术研究紧密结合的研究。 相似文献
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多功能探查机器人是根据特殊环境对无人机器人的要求而设计的。本文介绍了其总体结构和工作原理,着重分析视频、控制、驱动系统关键技术和解决方案。多功能探查机器人灵活且易组合,具广阔的应用价值。 相似文献