机器人的

By means of experiment it is verified that this robot moves dexterously and quickly and possesses good environmental adaptability and surmounting obstacle ability.

与传统的以研究机器人智能、决策等为目的而开发的轮式移动机器人相比，在机动性、越障能力、集成设计等方面提出了许多新的或挑战性的理论与工程技术问题[2~4]。

Analysis shows that the robot model containing uncertainty can be transformed into a quasi—linearized form by using nonlinear feedback and diffeomorphism. Based on this result, a simple design method is proposed for robot tracking control.

第一种算法将谈自忠等提出的机器人反馈线性化控制推广到存在不确定性的情形，指出通过非线性反馈和微分同胚变换可将含不确定性的机器人模型变换成准线性形式，基于此给出一种简单的跟踪器设计方案。

For the need of target location for robot,according to the structure of the robot and the characteristic of the omni-vision system,a set of models including the reflecting model of hyperboloid mirror and imaging model were researched and built.

俞飞，硕士生，主研领域：全向视觉针对机器人对目标定位的需要，根据机器人结构及全向视觉系统的特点，研究并建立了包括双曲面镜的反射模型、成像模型在内的一套数学模型。

The wall-climbing micro-robot that is discussed in this thesis is a special type of robot, which is driven by means of permanent magnetic field and mutual effect of electromagnetic field, has the characteristics of small volume and flexible control, can convenient enter narrow space, pipeline and big magnetizer where it is difficult for people to reach.

本文研制的微小步行爬壁机器人是一种特种机器人，它采用永磁场和电磁场相互作用的驱动方式，具有体积小，驱动控制灵活的特点，便于进入狭小空间、管道以及人难以到达的导磁面，完成各种检测工作。

And in current high-tech domain, make most the person is fixed eyes upon and most the achievement of pother, it is microelectronics and bionics the development that wait makes we can be made increasingly exquisite intelligence robot, and biology project technology makes the mankind likely recombine through gene and reform and make new student lot.

而在当今的高科技领域，最令人瞩目和最引起骚动的成果，是微电子和仿生学等的发展使我们能够制造日益精巧的智能机器人，以及生物工程技术使得人类可能通过基因重组而改良和制造新生命。1997年克隆羊多利问世和机器人"深蓝"战胜国际象棋冠军，轰动了整个世界。

CTC is used to control nominal system. For uncertainties system, we utilize the regressor of robotic system or bounding function on uncertainties to design different compensation controllers.

但在实际中，即使获得一个较为理想的机器人动力学模型也是很困难的，何况在作过程中机器人动力学模型的各个参数可能发生变化，同时还受到环境干扰和负载变化等许多不确定性因素的影响。

Be in after all previously very inside the time that grows a paragraph, after man-made has visited this site, searching a machine is empty-handed and return, it grew itself with respect to corresponding attune later periodic to the pay a return visit of this site, then abrupt some day has this site information was updated, search robot also cannot be aware of quickly.

毕竟在以前的很长一段的时间内，搜索机器人造访过这个站点后都是空手而归，后来它就相应的调长了自己对这个站点的回访周期，于是这个站点突然某一天有信息更新了，搜索机器人也不能快速察觉。

Spend shunt-wound robot orgnaization in the light of the 6 freedom with drive of communication servo electric machinery, analysed its kinematic go against solution, undertook orbit plans, designed trends slippery model to change structural control is algorithmic, built the emulation model of robot spur track, achieved the expectation motion orbit to spur track dog.

针对以交流伺服电机驱动的六自由度并联机器人机构，分析了其运动学逆解，进行了轨迹规划，设计了动态滑模变结构控制算法，建立了机器人支路的仿真模型，完成了对支路的期望运动轨迹的跟踪。

A neural-network-based robust compensating control method is proposed for the robots with constructed and unconstructed uncertainty The robust controller consists of a computed torque controller and add-on compensating controller The effective way using neural network to estimate the system uncertainty is also given.

四、对具有结构型和非结构型不确定性的机器人提出了一种基于神经网络补偿的鲁棒控制方法，控制器由一个计算力矩控制器和一个可切入的神经网络补偿控制器组成，给出一种利用神经网络学习机器人不确定性的有效途径。

In this April 3, 2009 photo, a robotic tail fin, whose actions are dictated by microprocessors housed in an attached Tupperware container, is seen in professor John Long's Vassar College science lab in Poughkeepsie, NY Long is among a small group of researchers worldwide building robots that can do things like shimmy through water or slither up shores to aid the study biology and evolution.

在这09年4月3日的照片，机器人尾翼，其行动是由微处理器，住在一个重视特百惠容器，是在教授约翰龙的瓦莎学院科学实验室在北京市东城区龙是一小群世界各地的研究人员建设机器人可以做的事情一样摆通过水或滑行了海岸援助和进化生物学研究。

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。