机器人

After analyzing the shortage of classical track following control rule, the abscissa error of track position of the robot is introduced in the method to fasten the track approaching speed, as well as the combined function of manual field and position error is applied to control the orientation of the robot.

在分析经典轨迹跟踪控制律缺点的基础上，方法中引入了机器人跟踪位姿误差的横坐标误差以加速机器人的轨迹逼近速度，并采用人工场和位姿误差协同作用来共同完成机器人的导向控制。

Firstly, based on the characteristics of Vision-Based Remote Brainless SoccerRobot System, a kind of centralized-distributed soccer robot decision-making controlstructure is put forward by a high level decision module processing centralizeddecision-making and robot agent can respond to the environment under high-leveldecision module coaching, while acting autonomously. Secondly, the differential drive mobile robot kinematics model is set up and amotion control algorithm is developed, which allows a general differential-drivenmobile robot to accurately reach a target point with a desired orientation in anenvironment with multiple moving obstacles.

本文首先针对基于全局视觉的足球机器人系统的特点，综合人工智能自上而下和自下而上两种研究方法，提出了一种混合式足球机器人决策结构，即通过一个全局性高层决策模块来决定机器人团队当前队形、战术以及智能体与角色间的映射关系，然后将高层决策结果通知各个队员智能体；队员智能体根据高层决策模块的指示及自己的知识进行反应式的思考和行动。

The inverse kinematics algorithm of redundant robot is studied in depth in this dissertation, especially the apery arm-7 d. o. f. robot. The apery arm robot system is an important technology for nucleus industry, space station and other remote telecontrol tasks.

本文对冗余度机器人逆运动学算法问题进行了较为深入的研究，尤其对七自由度拟人手臂机器人逆运动学的研究，具有一定的实际意义；所设计的拟人手臂机器人系统对于核工业、空间站以及其它远程遥控作业自动化具有重要意义。

Dr. Arkin said robotics researchers should consider not just how to make robots more capable, but also who must bear responsibility for their actions and how much human operators should remain "in the loop," particularly with machines to aid soldiers on the battlefield or the disabled in their homes.

阿金表示，机器人学的研究人员应该不光考虑如何把机器人做得更能干，也应考量谁必须为机器人的行为负责，以及人类操作者应该「即时掌握讯息」到何种程度，特别是那些在战场上辅佐士兵或在家中帮助肢体残障者的机器人。

The mechanical and control system design of a new biped walking chair robot is introduced.

介绍了一种两足步行椅机器人机械系统和控制系统的硬件设计，分析了载人两足机器人与一般两足机器人在安全性，载重量和干扰方面的不同。

On this condition, the author analyzed the robot"s operating task and the robot"s motion path, and used cubic spline method for continuous path motion trajectories planning of surgical robot in Cartesian space.

在此基础上分析了机器人的作业任务和运动路径，采用在笛卡尔坐标中的三次样条法对机器人运动路径进行了轨迹规划，得出了无框架立体定向手术机器人专用轨迹规划器。

The system can display in 3D the robots with higher quality graphics on PC by adopting the solid model technology, and modify the model of robots according to the size given by users, so that the parametric modeling is realized under interactive mode. It realizes the graphics simulation of robots in kinematics in both articulatory space and Cartesian space, and it also realizes the animated simulation of trajectory of linear interpolation in point-to-point mode.

该系统采用实体造型，能在微机上显示较高质量的机器人的三维图形，可以按照用户给出的尺寸修改模型，在交互方式下，实现机器人的参数化造型；系统能够在关节空间和笛卡尔空间中进行运动学的图形仿真，能进行点到点直线插补轨迹的动画显示，机器人的动作可以示教再现，也可以由程序设定。

If, to use their own domestic production of import substitutes the same welding machine dedicated welding machine, robots with the use of complementary and preserve their function unchanged, it would not only greatly reduce the use of industrial robots cost, can also enhance robot peripherals in China.

如果，能使用国内自己生产的同等电焊机替代进口的专用电焊机，与机器人配套使用而保持其功能不变，将不仅大大降低使用工业机器人的成本，也可提高机器人外设的国产化。

The experiments results verified the effectiveness of the three degrees freedom input of parallel decoupling rowing driving mechanism and the correctness of the theory analysis about water strider robot in this paper. At last, it appeared that the water stride robot in this paper has good velocity response characteristics, motion flexibility, high rowing efficiency and convenient control.

在上述理论研究基础上，研制仿水黾机器人样机，在实验室环境下对仿水黾机器人进行水面前进、转弯、负重实验，实验结果验证了本文提出的仿水黾机器人三自由度输入并联解耦划水驱动机构的有效性和本文理论分析的正确性，该机器人具有良好的速度响应特性、运动灵活性，划水效率高、控制简单方便。

The omni-vision system for RoboCup middle-size league soccer robot-NuBot and its method for object recognition are introduced firstly in the paper,and then a simple front vision system is used to improve the accuracy of recognition of the ball in front,and meantime an easy and effective calibration method for front vision system is presented,and finally the realization mechanism for the two vision systems working together is introduced,in which the processing speed of robot's object recognition can be accel...

为了快速正确地进行机器人的目标识别，首先介绍了RoboCup中型组足球机器人NuBot使用的全向视觉系统及其目标识别方法；然后通过引入一套简单的前向视觉系统来弥补全向视觉的不足，以提高机器人对其前方目标球的感知识别精度，同时给出了一种简单有效的前向视觉系统标定方法；最后介绍两套视觉系统共同工作的实现机制，以提高机器人的目标识别处理速度。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。