存在与显影:当代科幻电影中“仿生人”形象的焦虑情感研究

当代科幻电影中的“仿生人”形象趋向现实,在不同的未来想象中呈现出了不同的人类特质。“仿生人”的真实性与智能性让其与人类的区分逐渐模糊,科幻电影中创作出的“仿生人”不仅拥有心智,而且拥有情感,其表现出的一种重要情绪状态就是焦虑。焦虑在“仿生人”这里,成为一种影像中的现实可能。这既是对人类情感的模仿,但又显现出与人类不同的焦虑核心。“仿生人”焦虑的源头、焦虑的要素、焦虑的影响都在科幻电影中折射出来,其焦虑既是智能技术愈发成熟的必然存在,也是人类社会焦虑的必然显影。在这种存在与显影的交织状态中,“仿生人”的焦虑逐渐清晰。

仿生理念在工业设计中的困境与突破

"仿生"理念是较早被引入到工业设计领域的一种设计理念,其对于工业产品的功能特性、外面造型以及消费者情感需求的提升和满足起到了很大的帮助和推动作用。但是在实际工业设计实践中,对"仿生"理念的理解和运用出现了很多的误区和失误。本文从"仿生"概念入手,分析在工业设计中存在的"直接仿生"设计和"间接仿生"设计,引导出工业设计领域过多单纯依赖"直接仿生",对于人文精神体现的"间接仿生"涉及不够,进而提出"仿生"理念在工业设计中发展的新方向、新策略和新思路。

Simplified propulsive model for biomimetic robot fish and its experimental validation

As a combination of bio-mechanism and engineering technology, robot fish has become a multidisci- plinary research that mainly involves both hydrodynamics-based control and actuation technology. This paper presents a simplified propulsive model for carangiform propulsion, which is a swimming mode suitable for high speed and high efficiency. The carangiform motion is modeled as an N-joint nscillating mechanism that is composed of two basic components： the streamlined fish body represented by a planar spline curve and its hmate caudal tail by an oscillating foil. The speed of fish＇s straight swimming is adjusted by modulating the joint＇s oscillating frequency, and its orientation is tuned by different joint＇s deflection. The results from actual experiment showed that the proposed simplified propulsive model could be a viable eandidate for application in aquatic： swimming vehicles.

Wheeled foot quadruped robot HITAN-I

In view of the robot running environment, the structure of wheeled foot and quadruped are adopted in this robot system, which combines the priorities of both wheeled robot and legged robot. Based on CAN bus, the two-class robot control system using multiple controllers and drivers is constructed. At the same time, serial inverse kinematics of swaying leg and parallel inverse kinematics of supporting legs are analyzed independently. The forward gait and turning gait are planned and experiment image is given at last.

Kinematics Analysis Based on Screw Theory of a Humanoid Robot

A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robot. It has a simplified configuration and design for entertainment purpose. The design methods, principle and mechanism are discussed. According to the design goals of this research, there are ten degrees of freedom in the two bionic arms. Modularization, concurrent design and extension theory methods were adopted in the configuration study and screw theory was introduced into the analysis of humanoid robot kinematics. Comparisons with other methods show that: 1) only two coordinates need to be established in the kinematics analysis of humanoid robot based on screw theory; 2) the spatial manipulator Jacobian obtained by using twist and exponential product formula is succinct and legible; 3) adopting screw theory to resolve the humanoid robot arms kinematics question can avoid singularities; 4) using screw theory can solve the question of specification insufficiency.

A gait planning method applied to hexapod biomimetic robot locomotion

In order to fulfill the goal of autonomous walking on rough terrain,a distributed gait planningmethod applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait co-ordination mechanism of stick insect.The mathematical relation of walking velocity and gait pattern wasdepicted,a set of local rules operating between adjacent legs were put forward,and a distributed networkof local rules for gait control was constructed.With the interaction of adjacent legs,adaptive adjustmentof phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walk-ing speed was implemented to generate statically stable gait.In the simulation experiments,adaptive ad-justment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized,andstatic stableness was ensured simultaneously,which provided the hexapod robot with the capability ofwalking on rough terrain stably and expeditiously.

Analysis on pivot turning of quadruped robot with bionic flexible body driven by the PAMs

The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of one bionic spine and four pneumatic artificial muscles(PAMs).The coordinated movement of the bionic flexible body and the leg mechanism can achieve pivot turning gait.First,the pivot turning gait planning of quadruped robot was analyzed,and the coordinated movement sequence chart of pivot turning was presented.Then the kinematics modeling of leg side swing and body bending for pivot turning was derived,which should meet the condition of the coordinated movement between bionic flexible body and leg mechanism.The PAM experiment was conducted to analyze its contraction characteristic.The study on pivot turning of the quadruped robot will lay a theoretical foundation for the further research on dynamic walking stability of the quadruped robot in unstructured environment.

Stability margin of the quadruped bionic robot with spinning gait

Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.

Research on Miniature Hexapod Bio-robot

This paper described the structure and control of a new kind of miniature hexap od bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can mov e forwards and backwards. The external dimensions of bio-robot is: length 30 mm , width 40 mm, height 20 mm, weight 6.3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.

A control structure for the autonomous locomotion on rough terrain with a hexapod robot

A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration. In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence. While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously.

Bionic jumping dynamics of the musculoskeletal leg mechanism for quadruped robots

As the pneumatic artificial muscle （PAM） has flexibility properties similar to biological muscle which is widely used in robotics as one kind of actuators, the bionic mechanism driven by PAMs be- comes a hot spot in robotics. In this paper, a kind of musculoskeletal leg mechanism driven by PAMs is presented, which has three joints driven by four PAMs. The jumping movement is divided into three phases. The forward and inverse kinematics of the leg mechanism in different jumping phases is derived. Considering the ground reaction force between feet and environment, the dynamic in different jumping phases is analyzed by Lagrange method, then the relationship between PAM driving force and the joints angular displacement, angular velocity, angular acceleration during one jumping cycle is obtained, which will lay a foundatiori for the jumping experiment of the musculo- skeletal lez mechanism.

Remarks on the Efficiency of Bionic Optimisation Strategies

Bionic optimisation is one of the most popular and efficient applications of bionic engineering. As there are many different approaches and terms being used, we try to come up with a structuring of the strategies and compare the efficiency of the different methods. The methods mostly proposed in literature may be classified into evolutionary, particle swarm and artificial neural net optimisation. Some related classes have to be mentioned as the non-sexual fern optimisation and the response surfaces, which are close to the neuron nets. To come up with a measure of the efficiency that allows to take into account some of the published results the technical optimisation problems were derived from the ones given in literature. They deal with elastic studies of frame structures, as the computing time for each individual is very short. General proposals, which approach to use may not be given. It seems to be a good idea to learn about the applicability of the different methods at different problem classes and then do the optimisation according to these experiences. Furthermore in many cases there is some evidence that switching from one method to another improves the performance. Finally the identification of the exact position of the optimum by gradient methods is often more efficient than long random walks around local maxima.

Research on bionic quadruped robot based on hydraulic driver

A prototype of hydraulically powered quadruped robot is presented. The aim of the research is to develop a versatile robot platform which could travel fleetly in outdoor terrain with long time of en- durance and high load carrying ability. The current version is 1. lm long and 0.48m wide, and weights about 150kg. Each leg has four rotational joints driven by hydraulic cylinders and one pas- sive translational joint with spring. The torso carries the control system and the power system. A no- vel control algorithm is developed based on a Spring-Loaded Inverted Pendulum model and the prin- ciple of joint function separation. The robot can not only cross a 150mm high obstacle in static gait and trot at 2.5km/h and l km/h on the level-ground and 10°sloped-terrain respectively, but also au- tomatically keep balanced under lateral disturbance. In this paper, the mechanical structure and control systems are also discussed. Simulations and experiments are carried out to validate the design and algorithms.

面向“仿生科学与工程”新工科本科生人才培养

新工科建设工作是提升国家综合实力、培养复合型人才、助力工科创新发展的重要举措。新时代背景下,如何高效推进新工科建设工作,是亟待解决的问题。该文针对"仿生科学与工程"新工科学科人才培养存在的主要问题、创新人才培养的发展趋势及创新人才培养模式进行了探索,为提高工程人才培养质量、提升工程教育国际竞争力、践行吉林大学大学"双一流"建设目标添砖加瓦。

“新工科”背景下“仿生设计学”课程建设的思考

以多学科交叉为特色,以工程仿生研究为优势,进行“仿生设计学”课程建设,更新教学内容和课程体系,建成满足行业发展需要的课程和教材资源,把握工科人才的核心素养,培养设计思维、工程思维、批判性思维,在“新工科”课程教学活动中进行工程仿生设计的培养,使学生学会用创新、系统、融合的方式解决具体工程问题。

A hybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant humanoid manipulator

The redundant humanoid manipulator has characteristics of multiple degrees of freedom and complex joint structure, and it is not easy to obtain its inverse kinematics solution. The inverse kinematics problem of a humanoid manipulator can be formulated as an equivalent minimization problem, and thus it can be solved using some numerical optimization methods. Biogeography-based optimization （BBO） is a new biogeography inspired optimization algorithm, and it can be adopted to solve the inverse kinematics problem of a humanoid manipulator. The standard BBO algorithm that uses traditional migration and mutation operators suffers from slow convergence and prematurity. A hybrid biogeography-based optimization （HBBO） algorithm, which is based on BBO and differential evolution （DE）, is presented. In this hybrid algorithm, new habitats in the ecosystem are produced through a hybrid migration operator, that is, the BBO migration strategy and Did/best/I/bin differential strategy, to alleviate slow convergence at the later evolution stage of the algorithm. In addition, a Gaussian mutation operator is adopted to enhance the exploration ability and improve the diversity of the population. Based on these, an 8-DOF （degree of freedom） redundant humanoid manipulator is employed as an example. The end-effector error （position and orientation） and the ＇away limitation level＇ value of the 8-DOF humanoid manipulator constitute the fitness function of HBBO. The proposed HBBO algorithm has been used to solve the inverse kinematics problem of the 8-DOF redundant humanoid manipulator. Numerical simulation results demonstrate the effectiveness of this method.

Analysis and comparison of three leg models for bionic locust robot based on landing buffering performance

Good landing buffering performance can reduce impact and vibration for the bionic locust jumping robot; thus, a landing buffer is important in evaluating the motion performance of the bionic locust robot. In particular, the legs of the robot are the main structures that realize the buffer; thus, its structure affects buffering performance. Three typical leg structure models are established based on the physiological analysis of the locust leg and research status, namely, bionic leg, multi-constraint leg, and arc legs. Kinematic and force analyses are conducted for these types of legs. Particularly, flexible deformation of leg link is considered in the analysis to describe the movement process accurately. In order to compare the buffering performance of these types of legs quantitatively, the performance indices with maximum buffering distance, the energy absorption capability, and the mechanical property are presented. Based on the performance indices, the structure parameters are analyzed and optimized. The buffering performance of the three leg structures is compared with the comprehensive performance of different structures in each best state. This study offers a quantitative analysis and comparison for different legs of bionic locust jumping robot based on landing buffering performance. Furthermore, a theoretical basis for future research and engineering applications is established.

Design,fabrication and kinematics of a bio-inspired robotic bat wing

The current work is oriented toward the development of a novel biologically inspired bat aerial robot with morphing wings. Based on the flight characteristics data of natural bats(Eptesicus fuscus), a novel four degrees of freedom robotic bat wing was developed to emulate the movements of bat wing. The design, fabrication, programing and wind tunnel experiments of the robot bat wing are described in this paper. Based on this robotic wing, the influence of flap amplitude, wind speed, flight frequency, downstroke ratio and stroke plane angle as well as the contributions of flap, elbow, sweep and wrist motions on the aerodynamic force and mechanical power were studied and analyzed. Results of wind tunnel experiments validated that higher lift would bring greater power consumption, and the flap motion would generate the most force and need more energy expenditure compared with other motions of bat. The experimental results suggest that the flap and fold motions are indispensable to make a robotic bat wing that has a better flight performance. This study provides some implications and a better understanding for the future robotic bat.

Ionic Electroactive Polymers Used in Bionic Robots： A Review

Ionic electroactive polymers （IEAPs） are a category of intelligent soft materials exhibiting large displacement under electric excitation, based on inner ion or solvent transport. Due to their unique advantages such as flexibility, low driving voltage, large bending displacement and aquatic-environment adaptability, IEAPs have been documented as very promising actuators for the applications in bionic robots. This review presents an analysis to the current research status of IEAPs exploited in bionic robots. According to the specific bionic parts, those robots are divided into four classes： imitation of fins, limbs, joints and trunks. Their dimension, weight, voltage amplitude, frequency and maximum speed were summarized to show the optimum design range. The results show that the approach velocity of the current robots were higher （〉 35 mm· s-1） when the robot weighted 60 g - 180 g and the body was 90 mm - 130 mm long. For voltage from 1 V - 3 V and frequencies from 0.7 Hz - 1.2 Hz, the speed was relatively higher （〉 35 mm·s-1）.To some extent, the maximum speed decreases when the area of the IEAP material used in bionic robot increases. For underwater circumstances, IEAP materials are most suitable for designing bionic robots swimming with Body and/or Caudal Fin （BCF）. This review provides important guidance for the design of lEAP bionic robots.

Building a dense surface map incrementally from semi-dense point cloud and RGB images

Building and using maps is a fundamental issue for bionic robots in field applications. A dense surface map, which offers rich visual and geometric information, is an ideal representation of the environment for indoor/outdoor localization, navigation, and recognition tasks of these robots. Since most bionic robots can use only small light-weight laser scanners and cameras to acquire semi-dense point cloud and RGB images, we propose a method to generate a consistent and dense surface map from this kind of semi-dense point cloud and RGB images. The method contains two main steps： （1） generate a dense surface for every single scan of point cloud and its corresponding image（s） and （2） incrementally fuse the dense surface of a new scan into the whole map. In step （1） edge-aware resampling is realized by segmenting the scan of a point cloud in advance and resampling each sub-cloud separately. Noine within the scan is reduced and a dense surface is generated. In step （2） the average surface is estimated probabilistically and the non-coincidence of different scans is eliminated. Experiments demonstrate that our method works well in both indoor and outdoor semi-structured environments where there are regularly shaped objects.