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冬奥冰壶六足机器人研究 被引量:1
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作者 高峰 齐臣坤 +3 位作者 陈先宝 尹科 赵越 高岳 《机器人》 EI CSCD 北大核心 2022年第5期533-537,共5页
冰壶六足机器人是北京2022年冬奥会组委会需求的唯一进入冬奥会赛场的机器人。开发该机器人的目的是借助北京冬奥会展示我国机器人的自主创新能力和水平。我们重视独特设计创意,通过模仿冰壶运动员投掷冰壶的“行为特征”来设计和开发... 冰壶六足机器人是北京2022年冬奥会组委会需求的唯一进入冬奥会赛场的机器人。开发该机器人的目的是借助北京冬奥会展示我国机器人的自主创新能力和水平。我们重视独特设计创意,通过模仿冰壶运动员投掷冰壶的“行为特征”来设计和开发冰壶六足机器人。冰壶六足机器人设计面临多项挑战,要解决模仿人投掷冰壶行为的六足机器人的构形综合、投掷冰壶任务链与机器人行为链关联特征建立、机器人击打冰壶行为规划等问题。研制的冰壶六足机器人在北京2022年冬奥会冰立方冰壶赛场上顺利完成击打冰壶表演。 展开更多
关键词 六足机器人 冰壶 机构构形 伺服驱动 机器人行为控制
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Improved Behaviour Control on Laser Cruise of Autonomous Mobile Robot 被引量:1
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作者 张国伟 丁永生 卢秋红 《Journal of Donghua University(English Edition)》 EI CAS 2013年第6期482-486,共5页
The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm wit... The software of behaviour-based algorithm~ was parted to several functional modules which represented different behaviours with different priorities. A basic algorithm with S-type arbiter and an improved algorithm with I-type arbiter were compared. The improved algorithm can reduce judging time and avoid some mistakes of the basic one. In mapping obstacles, the robot adjusted the spread angle according to different distances to obstacles in scaled vector field histogram (SVFH) algorithm, and then the robot turned more sharply in near obstacles than in far obstacles, which made the robot move more safely and smoothly in a cluttered room. 展开更多
关键词 mobile robot behaviour control laser cruise vector field histogram (VFH)
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Self-assembly control and experiments in swarm modular robots 被引量:2
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作者 WEI HongXing LI HaiYuan +1 位作者 TAN JinDong WANG TianMiao 《Science China(Technological Sciences)》 SCIE EI CAS 2012年第4期1118-1131,共14页
This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the... This paper presents a self-assembly control strategy for the swarm modular robots. Simulated and physical experiments are conducted based on the Sambot platform, which is a novel self-assembly modular robot having the characteristics of both the chain-type and the mobile self-reconfigurable robots. Multiple Sambots can autonomously move and connect with one another through self-assembly to form robotic organisms. The configuration connection state table is used to describe the configuration of the robotic structure. A directional self-assembly control model is proposed to perform the self-assembly experiments. The self-assembly process begins with one Sambot as the seed, and then the Docking Sambots use a behavior-based controller to achieve connection with the seed Sambot. The controller is independent of the target configuration. The seed and connected Sambots execute a configuration comparison algorithm to control the growth of the robotic structure. Furthermore, the simul- taneous self-assembly of multiple Sambots is discussed. For multiple configurations, self-assembly experiments are conducted in simulation platform and physical platform of Sambot. The experimental results verify the effectiveness and scalability of the self-assembly algorithms. 展开更多
关键词 self-reconfigurable robot modular robot swarm robot SELF-ASSEMBLY behavior-based control
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