中国海洋大学机器人研究组

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中文名
中国海洋大学机器人研究组
成    员
蔡杨,况满鑫
研究方法
阅读发表于机器人学主要学术会议
致力于
主要特种移动机器人进行信息收集

中国海洋大学机器人研究组基本信息

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中国海洋大学机器人研究组 - 概述 本项目致力于对2000年以来世界范围内的主要特种移动机器人进行信息收集、数据分析和资料整理。建立的数据库力图对工作环境类似的移动机器人进行横向比较,从而掌握机器人科技发展的新动向,为我院系发展特种机器人提出参考性建议,同时也促进多种机器人研究思想的融合贯通。未来还可以在已经建立的数据库基础上,运用系统工程、运筹学的原理,发展出辅助特种机器人设计研发的智能决策系统。

中国海洋大学机器人研究组概述

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本项目致力于对2000年以来世界范围内的主要特种移动机器人进行信息收集、数据分析和资料整理。建立的数据库力图对工作环境类似的移动机器人进行横向比较,从而掌握机器人科技发展的新动向,为我院系发展特种机器人提出参考性建议,同时也促进多种机器人研究思想的融合贯通。未来还可以在已经建立的数据库基础上,运用系统工程、运筹学的原理,发展出辅助特种机器人设计研发的智能决策系统。
中国海洋大学机器人研究组 - 成员 指导老师任凭 成员蔡杨,况满鑫 中国海洋大学机器人研究组 - 研究方法

中国海洋大学机器人研究组成员

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指导老师
成员
蔡杨,况满鑫

中国海洋大学机器人研究组研究方法

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阅读发表于机器人学主要学术会议和学术期刊的英文原始论文,从中摘取特种机器人的工作原理,工作环境,现有性能指标等关键信息,并将各种信息分门类保存。整理好的资料以英文网站的形式公布。资料收集的时间范围暂时定为2000年以来,来源主要包括著名的国际性机器人学术会议,例如:
  IEEEInternationalConferenceonRoboticsandAutomation
  IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems
  ASMEInternationalDesignEngineeringTechnicalConferences;
  著名学术期刊,例如:
  InternationalJournalofRoboticsResearch
  IEEETransactiononRobotics
  ASMEJournalofMechanismsandRobotics
  JournalofFieldRobots;
  综合性机器人学专著SpringerHandbookofRobotics;
  中文教科书文献以及互联网上有影响力的科技网站。
  对于收集到的信息,可以运用质量机能展开的方法进行初始分析。建立各种特种移动机器人与各种工作环境之间的对应关系。以在某一种特定环境下正常作业为目标,探索评估特种机器人机动性的质量指标。 中国海洋大学机器人研究组 - 研究成果 双足式NameInstitution(s)Characteristics
  (特征)Operation
  Environment
  Locomotion
  Prototype
  HRP-2AISTJapan1.5mtall,58kg
  bipedal,designed
  foruseinhuman
  environmentslike
  homes,offices,and
  constructionsites
  Ground
  Walking
  HRP-2 humanoid robotHumanoidRobot
  NavigationTheabilityofthesebipedalhumanoidrobotstostepoverandontoobstaclesmakesthemideallysuitedfor
  environmentsdesignedforhumansGroundbipedal
  walking 滑翔式NameInstitution(s)Characteristics Operation
  Environment
  Locomotion
  Prototype
  MALV1BioRobotsLLC,
  USA118grams,cruising
  airspeedof
  approximately11
  meters
  persecond,surmount
  obstaclesof
  maximumheight
  4.4centimeters
  Air&GroundFlying/
  Walking
  /Leg-Wheel
  Hybrid
  118 gram MALV 1UnmannedAerialComputerVisionGroupusesabasicLucas-Kanadetrackeralgorithm,whichsendsinformationabouttheerrorbetweenthecenteroftheobjecttotrackandthecenteroftheimage,totheFuzzycontroller.SkyflyName Institution(s)CharacteristicsOperation
  Environment
  LocomotionPrototypeRobust
  MALVBioRobotsLLC,
  USA;
  Universityof
  Bristol;
  Departmentof
  Mechanical
  andAerospace
  Engineering,
  CaseWestern
  ReserveUniversityflylongdistancesAir&GroundFlying
  /Walking
  /Leg-Wheel
  HybridRobustMALV 鱼鳍式NameInstitution(s)CharacteristicsOperation
  EnvironmentLocomotionPrototypeAQUAMcGill
  University
  andYork
  University50by65by13
  centimetersand
  weighsapproximate
  l18kilograms.Its
  propulsion
  isbasedonsix
  flippersthatcan
  providemotionin
  fivedegreesoffreedomUnderwaterSwimmingAQUAMulti-DOF
  Robotic
  FishSchoolof
  Mechanical
  andAerospace
  Engineering,
  NanyangTechnological
  Universityaslenderbody,
  motorsgenerate
  optimized
  waveformalong
  thebody
  asthepropulsionUnderwater SwimmingMulti-DOF Robotic Fish 仿动物NameInstitution(s)CharacteristicsOperation
  EnvironmentLocomotionPrototypeInch-
  worm
  RobotSchoolofMechanical
  andAerospaceEngineering,
  SeoulNationalUniversitymaximumvelocityof
  therobotis5mm/s,
  5mmperstroke,
  Omegamotion,
  SMAactuatorsGroundCrawlingInchworm RobotMini-
  RoACHDepartmentofElectrical
  Engineeringand
  ComputerSciences,
  Universityof
  CaliforniaBerkely2.4grams,driven
  byasingleDCmotor,
  10bodylengths
  persecondonlevel
  terrainGroundWalking
  /HexapedalMini-RoACHRoACHDepartmentofElectrical
  Engineering
  andComputerSciences,
  Universityof
  CaliforniaBerkely15grams,drivenbya
  singleDC
  motor,10bodylengths
  persecondon
  levelterrainGroundWalking
  /HexapedalRoACHDASHDepartmentofElectrical
  Engineering
  andComputerSciences,
  Universityof
  CaliforniaBerkely16grams,drivenbya
  singleDC
  motor,10bodylengths
  persecond
  onlevelterrainGroundWalking
  /HexapedalDASHiSprawlCenterforDesignResearch,
  StanfordUniversity;
  UniversityofPennsylvania;bio-inspired
  hexapod,runsat15
  body-lengthspersecond,
  fastlocomotionover
  roughterrain
  andofexecutingrapid
  turnsby
  changinglegthrustanglesGroundWalking
  /HexapedaliSprawlSticky-
  botCenterforDesignResearch,
  StanfordUniversity;
  IlliniosInstitute
  ofTechnologyclimbssmoothvertical
  surfacessuchasglass,
  plasticandceramictile
  at4cm/s,
  employshierarchical
  compliance
  ,directionaladhesion
  andforcecontrolGround/
  Vertical
  SurfaceClimbingsticybot 轮式NameInstitution(s)CharacteristicsOperationEnvironmentLocomotionPrototypeAutomatedCropYieldEstimationTheRoboticsInstituteAnautonomousorchardvehicle.Thesystemscansthebothsidesofeachtree.AcomputervisionalgorithmgroundsteerVisionGuidedMobileRobotsAutomaticControlEngineering(LSR)
  AdvancedStudy(IAS)anautonomousswitching
  betweentwobasic
  attentionselection
  mechanisms,top-downand
  bottom-up,isproposed,
  substitutingmanual
  switchingGroundsteerpowersubstation
  equipmentinspection
  robotShandongJianzhuUniversityformakindoffull
  monitorsystemfor
  substationtogreatly
  improvethesafety,
  dependabilityandreality
  ofthesubstation
  inspectionGroundtumble
  其他NameInstitution(s)CharacteristicsOperationEnvironmentLocomotionPrototypeAerobotCentreforIntelligentMachinesfullactuationtoenablesix-dofmotionandre-quirementforautonomouslocalizationairflyHybridMobileRobotTheGeorgeWashingtonUniversityThiswasaccomplishedby
  integratingthelocomotionmechanismandthemanipulatorarmmechanismasoneGroundClimbingOdinchangeitsphysical
  structureandbehavior
  eachtimeitisreconfiguredGroundcompactmagneticwheeledrobotRoboticsandIntelligent
  Systemsdoinspectionand
  vibrationmeasurementsinthehousingsoflarge
  generatorsandsimilar
  environmentsinpower
  plantsGroundClimbing/
  wheeledTumblingUniversityofMinnesotatakesadvantageof
  ground-bodyinteractions
  toachieverichmotions
  withminimalhardware
  complexityGroundtumble 履带式TrackedMobileRobottheCanadaResearchChairProgram,
  theNaturalSciencesand
  EngineeringResearchCouncil(NSERC),AerospaceEngineering,Ryerson
  Universitylargercontactareawith
  theterrain,climbing
  stairs,surpassing
  obstaclesornegotiating
  irregularterrainGroundtracked
资料收集的时间范围暂时定为2000年以来,来源主要包括著名的国际性机器人学术会议,例如:
  IEEEInternationalConferenceonRoboticsandAutomation
  IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems
  ASMEInternationalDesignEngineeringTechnicalConferences;
  著名学术期刊,例如:
  InternationalJournalofRoboticsResearch
  IEEETransactiononRobotics
  ASMEJournalofMechanismsandRobotics
  JournalofFieldRobots;
  综合性机器人学专著SpringerHandbookofRobotics;
  中文教科书文献以及互联网上有影响力的科技网站。
  对于收集到的信息,可以运用质量机能展开的方法进行初始分析。建立各种特种移动机器人与各种工作环境之间的对应关系。以在某一种特定环境下正常作业为目标,探索评估特种机器人机动性的质量指标。

中国海洋大学机器人研究组研究成果

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中国海洋大学机器人研究组双足式

NameInstitution(s)Characteristics
  (特征)
Operation
  Environment
  
Locomotion
  
Prototype
  
HRP-2AISTJapan1.5mtall,58kg
  bipedal,designed
  foruseinhuman
  environmentslike
  homes,offices,and
  constructionsites
  
Ground
  
Walking
  
HRP-2 humanoid robot

  
HRP-2 HRP-2
HumanoidRobot
  Navigation

  
Theabilityofthesebipedalhumanoidrobotstostepoverandontoobstaclesmakesthemideallysuitedfor
  environmentsdesignedforhumans
Groundbipedal
  walking

  

  
111 111

中国海洋大学机器人研究组滑翔式

NameInstitution(s)CharacteristicsOperation
  Environment
  
Locomotion
  
Prototype
  
MALV1BioRobotsLLC,
  USA
118grams,cruising
  airspeedof
  approximately11
  meters
  persecond,surmount
  obstaclesof
  maximumheight
  4.4centimeters
  
Air&GroundFlying/
  Walking
  /Leg-Wheel
  Hybrid
  
118 gram MALV 1

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  
118 118
UnmannedAerialComputerVisionGroupusesabasicLucas-Kanadetrackeralgorithm,whichsendsinformationabouttheerrorbetweenthecenteroftheobjecttotrackandthecenteroftheimage,totheFuzzycontroller.Skyfly
  
111 111
NameInstitution(s)CharacteristicsOperation
  Environment
  
LocomotionPrototype
Robust
  MALV
BioRobotsLLC,
  USA;
  Universityof
  Bristol;
  Departmentof
  Mechanical
  andAerospace
  Engineering,
  CaseWestern
  ReserveUniversity
flylongdistancesAir&GroundFlying
  /Walking
  /Leg-Wheel
  Hybrid
RobustMALV

  
飞行 飞行

中国海洋大学机器人研究组鱼鳍式

NameInstitution(s)CharacteristicsOperation
  Environment
LocomotionPrototype
AQUAMcGill
  University
  andYork
  University
50by65by13
  centimetersand
  weighsapproximate
  l18kilograms.Its
  propulsion
  isbasedonsix
  flippersthatcan
  providemotionin
  fivedegreesoffreedom
UnderwaterSwimmingAQUA

  
AQUA AQUA
Multi-DOF
  Robotic
  Fish
Schoolof
  Mechanical
  andAerospace
  Engineering,
  NanyangTechnological
  University
aslenderbody,
  motorsgenerate
  optimized
  waveformalong
  thebody
  asthepropulsion
UnderwaterSwimmingMulti-DOF Robotic Fish

  
Multi-DOF Multi-DOF

中国海洋大学机器人研究组仿动物

NameInstitution(s)CharacteristicsOperation
  EnvironmentLocomotionPrototypeInch-
  worm
  RobotSchoolofMechanical
  andAerospaceEngineering,
  SeoulNationalUniversitymaximumvelocityof
  therobotis5mm/s,
  5mmperstroke,
  Omegamotion,
  SMAactuatorsGroundCrawlingInchworm RobotMini-
  RoACHDepartmentofElectrical
  Engineeringand
  ComputerSciences,
  Universityof
  CaliforniaBerkely2.4grams,driven
  byasingleDCmotor,
  10bodylengths
  persecondonlevel
  terrainGroundWalking
  /HexapedalMini-RoACHRoACHDepartmentofElectrical
  Engineering
  andComputerSciences,
  Universityof
  CaliforniaBerkely15grams,drivenbya
  singleDC
  motor,10bodylengths
  persecondon
  levelterrainGroundWalking
  /HexapedalRoACHDASHDepartmentofElectrical
  Engineering
  andComputerSciences,
  Universityof
  CaliforniaBerkely16grams,drivenbya
  singleDC
  motor,10bodylengths
  persecond
  onlevelterrainGroundWalking
  /HexapedalDASHiSprawlCenterforDesignResearch,
  StanfordUniversity;
  UniversityofPennsylvania;bio-inspired
  hexapod,runsat15
  body-lengthspersecond,
  fastlocomotionover
  roughterrain
  andofexecutingrapid
  turnsby
  changinglegthrustanglesGroundWalking
  /HexapedaliSprawlSticky-
  botCenterforDesignResearch,
  StanfordUniversity;
  IlliniosInstitute
  ofTechnologyclimbssmoothvertical
  surfacessuchasglass,
  plasticandceramictile
  at4cm/s,
  employshierarchical
  compliance
  ,directionaladhesion
  andforcecontrolGround/
  Vertical
  SurfaceClimbingsticybot 轮式
NameInstitution(s)CharacteristicsOperation
  Environment
LocomotionPrototype
Inch-
  worm
  Robot
SchoolofMechanical
  andAerospaceEngineering,
  SeoulNationalUniversity
maximumvelocityof
  therobotis5mm/s,
  5mmperstroke,
  Omegamotion,
  SMAactuators
GroundCrawlingInchworm Robot
Mini-
  RoACH
DepartmentofElectrical
  Engineeringand
  ComputerSciences,
  Universityof
  CaliforniaBerkely
2.4grams,driven
  byasingleDCmotor,
  10bodylengths
  persecondonlevel
  terrain
GroundWalking
  /Hexapedal
Mini-RoACH
RoACHDepartmentofElectrical
  Engineering
  andComputerSciences,
  Universityof
  CaliforniaBerkely
15grams,drivenbya
  singleDC
  motor,10bodylengths
  persecondon
  levelterrain
GroundWalking
  /Hexapedal
RoACH
DASHDepartmentofElectrical
  Engineering
  andComputerSciences,
  Universityof
  CaliforniaBerkely
16grams,drivenbya
  singleDC
  motor,10bodylengths
  persecond
  onlevelterrain
GroundWalking
  /Hexapedal
DASH
iSprawlCenterforDesignResearch,
  StanfordUniversity;
  UniversityofPennsylvania;
bio-inspired
  hexapod,runsat15
  body-lengthspersecond,
  fastlocomotionover
  roughterrain
  andofexecutingrapid
  turnsby
  changinglegthrustangles
GroundWalking
  /Hexapedal
iSprawl
Sticky-
  bot
CenterforDesignResearch,
  StanfordUniversity;
  IlliniosInstitute
  ofTechnology
climbssmoothvertical
  surfacessuchasglass,
  plasticandceramictile
  at4cm/s,
  employshierarchical
  compliance
  ,directionaladhesion
  andforcecontrol
Ground/
  Vertical
  Surface
Climbingsticybot

  
Inchworm Inchworm

  
Mini-RoACH Mini-RoACH

  
RoACH RoACH

  
DASH DASH

  
iSprawl iSprawl

  
sticybot sticybot

中国海洋大学机器人研究组轮式

NameInstitution(s)CharacteristicsOperationEnvironmentLocomotionPrototypeAutomatedCropYieldEstimationTheRoboticsInstituteAnautonomousorchardvehicle.Thesystemscansthebothsidesofeachtree.AcomputervisionalgorithmgroundsteerVisionGuidedMobileRobotsAutomaticControlEngineering(LSR)
  AdvancedStudy(IAS)anautonomousswitching
  betweentwobasic
  attentionselection
  mechanisms,top-downand
  bottom-up,isproposed,
  substitutingmanual
  switchingGroundsteerpowersubstation
  equipmentinspection
  robotShandongJianzhuUniversityformakindoffull
  monitorsystemfor
  substationtogreatly
  improvethesafety,
  dependabilityandreality
  ofthesubstation
  inspectionGroundtumble
  其他
NameInstitution(s)CharacteristicsOperationEnvironmentLocomotionPrototype

  

  

  

  

  

  
AutomatedCropYieldEstimationTheRoboticsInstituteAnautonomousorchardvehicle.Thesystemscansthebothsidesofeachtree.Acomputervisionalgorithmgroundsteer
  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  
1 1
VisionGuidedMobileRobotsAutomaticControlEngineering(LSR)
  AdvancedStudy(IAS)
anautonomousswitching
  betweentwobasic
  attentionselection
  mechanisms,top-downand
  bottom-up,isproposed,
  substitutingmanual
  switching
Groundsteer
  
powersubstation
  equipmentinspection
  robot
ShandongJianzhuUniversityformakindoffull
  monitorsystemfor
  substationtogreatly
  improvethesafety,
  dependabilityandreality
  ofthesubstation
  inspection
Groundtumble
  

  
11 11

  
11 11

中国海洋大学机器人研究组其他

NameInstitution(s)CharacteristicsOperationEnvironmentLocomotionPrototypeAerobotCentreforIntelligentMachinesfullactuationtoenablesix-dofmotionandre-quirementforautonomouslocalizationairflyHybridMobileRobotTheGeorgeWashingtonUniversityThiswasaccomplishedby
  integratingthelocomotionmechanismandthemanipulatorarmmechanismasoneGroundClimbingOdinchangeitsphysical
  structureandbehavior
  eachtimeitisreconfiguredGroundcompactmagneticwheeledrobotRoboticsandIntelligent
  Systemsdoinspectionand
  vibrationmeasurementsinthehousingsoflarge
  generatorsandsimilar
  environmentsinpower
  plantsGroundClimbing/
  wheeledTumblingUniversityofMinnesotatakesadvantageof
  ground-bodyinteractions
  toachieverichmotions
  withminimalhardware
  complexityGroundtumble 履带式TrackedMobileRobottheCanadaResearchChairProgram,
  theNaturalSciencesand
  EngineeringResearchCouncil(NSERC),AerospaceEngineering,Ryerson
  Universitylargercontactareawith
  theterrain,climbing
  stairs,surpassing
  obstaclesornegotiating
  irregularterrainGroundtracked
NameInstitution(s)CharacteristicsOperationEnvironmentLocomotionPrototype
AerobotCentreforIntelligentMachinesfullactuationtoenablesix-dofmotionandre-quirementforautonomouslocalizationairfly
  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  
HybridMobileRobotTheGeorgeWashingtonUniversityThiswasaccomplishedby
  integratingthelocomotionmechanismandthemanipulatorarmmechanismasone
GroundClimbing
  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  

  
1 1

  
1 1
Odin
  
changeitsphysical
  structureandbehavior
  eachtimeitisreconfigured
Ground
  

  
compactmagneticwheeledrobotRoboticsandIntelligent
  Systems
doinspectionand
  vibrationmeasurementsinthehousingsoflarge
  generatorsandsimilar
  environmentsinpower
  plants
GroundClimbing/
  wheeled

  
TumblingUniversityofMinnesotatakesadvantageof
  ground-bodyinteractions
  toachieverichmotions
  withminimalhardware
  complexity
Groundtumble
  

  

  

  

  

  

  

  
1 1

  
11 11

  
11 11

中国海洋大学机器人研究组履带式

TrackedMobileRobottheCanadaResearchChairProgram,
  theNaturalSciencesand
  EngineeringResearchCouncil(NSERC),AerospaceEngineering,Ryerson
  Universitylargercontactareawith
  theterrain,climbing
  stairs,surpassing
  obstaclesornegotiating
  irregularterrainGroundtracked
TrackedMobileRobottheCanadaResearchChairProgram,
  theNaturalSciencesand
  EngineeringResearchCouncil(NSERC),AerospaceEngineering,Ryerson
  University
largercontactareawith
  theterrain,climbing
  stairs,surpassing
  obstaclesornegotiating
  irregularterrain
Groundtracked
  

  
11 11
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