共查询到18条相似文献,搜索用时 187 毫秒
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拟人机器人视觉系统的硬件结构设计 总被引:2,自引:0,他引:2
拟人机器人是当前机器人研究领域中最新的研究方向,机器人视觉系统是其智能化最重要的标志之一。文章介绍了清华大学“985”重点科研项目“拟人机器人技术和应用系统”研究开发的拟人机器人TBIPR—I视觉系统的硬件结构组成和设计原理。 相似文献
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基于情感交互的仿人头部机器人 总被引:4,自引:0,他引:4
本研究的目的是设计一台机器人,使它可以与人互动,并在日常生活中和常见的地方协助人类.为了
完成这些任务,机器人必须友好地显示出一些情感,表现出友好的特点和个性.依据仿生学,研制了一台仿人头部
机器人,建立了机器人的行为决策模型.该机器人具有人类的6 种基本面部表情,以及人脸检测、语音情感识别与
合成、情感行为决策等能力,能够通过机器视觉、语音交互、情感表达等方式与人进行有效的情感交互. 相似文献
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本文研究机器人在视觉引导下完成各种任务的手眼协调系统.文中阐述有关终端级智能接口技术、图象处理、视觉几何畸变校正、摄象机模型、摄象机-视场校准、机器人World坐标-视场坐标校准、基于视觉的控制等协调环节.系统由一台AT主机、一台PUMA760和一个配有CA5000视觉处理软件的 相似文献
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非接触式机器人直线轨迹测量系统 总被引:2,自引:0,他引:2
视觉的、造价低廉实用的非接触式机器人直线轨迹测量系统.该测量系统由结构光视觉传感
器、测量轨道、主控计算机及相关软件组成.视觉传感器可固定于机器人末端.当机器人末
端带动视觉传感器沿测量轨道做直线运动时,通过传感器测量相对测量轨道的连续位姿关系
,就可间接描述机器人末端的运动轨迹.当重复同一直线运动时,可检测出机器人的轨迹重
复性.本文综述了机器人直线轨迹测量设备的研究现状,介绍了轨迹检测系统的测量原
理,重点讨论了该测量系统的两个关键技术:空间特征点的图象提取技术和三维坐标计算方
法,并描述了该系统的结构、性能指标和测量试验结果. 相似文献
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《Advanced Robotics》2013,27(11):1661-1675
A biped robot, MARI-3, for jumping is developed, of which the ultimate objective is fast walking and running. Its mechanical structure including the joint configuration and specification, the knee joint, and the speed reduction mechanism are described in detail. A specific control system RON (RObot Network) for MARI-3 that is a serial and distributed network and consists of a microcontroller, host unit, servo units, sensor units and servo amplifiers is presented as well as the sensor system. With the developed biped robot MARI-3, one-leg jumping of 110 ms jumping time and 4.0 cm jumping height was implemented as initiative and verification experiments. Furthermore, by comparison of MARI-3 with other jumping or running robots, MARI-3's potential ability for fast walking, jumping and running becomes clear. 相似文献
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《Advanced Robotics》2013,27(6):633-652
The authors are engaged in studies of biped walking robots from the following two viewpoints. One is a viewpoint as a human science. The other is a viewpoint towards the development of humanoid robots. In the current research concerning a biped walking robot, there is no developed example of a life-size biped walking robot with antagonistically driven joints by which the human musculo-skeletal system is imitated in the lower limbs. Humans are considered to exhibit walking behavior which is both efficient and capable of flexibly coping with contact with the outside environment. However, developed biped walking robots cannot realize human walking. The human joint is driven by two or more antagonistic muscle groups. Humans can vary the joint stiffness, using nonlinear spring characteristics possessed by the muscles themselves. The function is an indispensable function for a humanoid. Therefore, the authors designed and built an anthropomorphic biped walking robot having antagonistic driven joints. In this paper, the authors introduce the design method of the robot. The authors performed walking experiments with the robot. As a result, a quasi-dynamic biped walking using antagonist driven joint was realized. The walking speed was 7.68 s per step with a 0.1 m step length. 相似文献
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Keli Shen Xiang Li Hongzhi Tian Takayuki Matsuno Mamoru Minami 《Artificial Life and Robotics》2018,23(2):261-270
In this paper, biped walking posture and design are evaluated through dynamic reconfiguration manipulability shape index (DRMSI). DRMSI is the concept derived from dynamic manipulability and reconfiguration manipulability with remaining redundancy. DRMSI represents the ability of dynamical system of manipulators possessing shape changing acceleration in task space by normalized torque inputs, while the hand motion is assigned as the primary task. Besides, we use visual lifting approach to stabilize the walking and stop falling down. In this research, the primary task is to make the position of the head direct to the desired one as much as possible. And realizing the biped walking is the second task. This research indicates that proposed dynamical-evaluating index is effective in evaluating the biped walking motion and biped humanoid robot has the adjustable configuration to walk with higher flexibility. Flexibility represents the dynamical shape changeability of humanoid robot based on redundancy of the humanoid robot with the premise of the primary task given to keeping the head position high. 相似文献
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Javier Testart Javier Ruiz del Solar Rodrigo Schulz Pablo Guerrero Rodrigo Palma-Amestoy 《Journal of Intelligent and Robotic Systems》2011,63(2):233-255
A real-time hybrid control architecture for biped humanoid robots is proposed. The architecture is modular and hierarchical.
The main robot’s functionalities are organized in four parallel modules: perception, actuation, world-modeling, and hybrid
control. Hybrid control is divided in three behavior-based hierarchical layers: the planning layer, the deliberative layer,
and the reactive layer, which work in parallel and have very different response speeds and planning capabilities. The architecture
allows: (1) the coordination of multiple robots and the execution of group behaviors without disturbing the robot’s reactivity
and responsivity, which is very relevant for biped humanoid robots whose gait control requires real-time processing. (2) The
straightforward management of the robot’s resources using resource multiplexers. (3) The integration of active vision mechanisms
in the reactive layer under control of behavior-dependant value functions from the deliberative layer. This adds flexibility
in the implementation of complex functionalities, such as the ones required for playing soccer in robot teams. The architecture
is validated using simulated and real Nao humanoid robots. Passive and active behaviors are tested in simulated and real robot
soccer setups. In addition, the ability to execute group behaviors in real- time is tested in international robot soccer competitions. 相似文献
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为有针对性地根据不同干扰类型选择正确的抗干扰措施,有必要对无人机数据链所处环境的干扰信号进行分析和分类识别。本文以变换域通信系统(Transform Domain Communication System,TDCS)为载体,对无人机数据链常面临的干扰类型的自动识别进行研究,采用时域、频域、时频联合分析的方法,提出了一组对干信比变化不敏感的特征参数,并利用这组参数提出一种基于决策树理论的干扰分类识别方法,仿真结果表明,该方法能够快速准确地识别出干扰类型,具有很好的鲁棒性,并且在干信比和干噪比在0dB以上时,正确识别率均在90%以上。 相似文献