This paper implements position control of a biped robot via velocity control with automatically generated joint torque and velocity limits so as to have zero overshoot of the COM and sliding, tipping and twisting of the robots feet while allowing the COM to move in mimimum time to a refferential position. This method allows the position controller to be robust to external disturbances and is able to reject the maximum amount of external force without letting the feet tip over(not unnecesserily compliant like some methods). This method is also general in the sense that all 6 axes can have ground reaction force limits so sliding, twisiting and tipping of the feet can be prevented. Also this method does not require a refferential ZMP trajectory. Friction and coriollis forces are detected via a type of workspace disturbance observer. Knowledge of the magnitude of this disturbance allows the motor torques to be limited so that the total ground reaction force doesnt lead to unstable conditions at the feet. The proposed method with velocity limits is verified on the biped robot MARI-3 and it is shown that overshoot is eliminated while being compliant to external disturbances.

关键词：光机电；机器人；力控制；位置控制

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Unmanned ground and air vehicles (UGVs and UAVs) embody a critical capability of future U.S. Army systems and will be used for force projection and as force multipliers. They are expected to operate in a semiautonomous fashion, in which an operator will lay out a mission plan for the vehicle to execute with little or no operator interaction; the operator s function will be to monitor the progress of the unmanned systems. If the situational demands exceed the capabilities of the vehicle, the operator will need to intervene to complete the mission by either changing the mission plan or by assuming direct control of the vehicle by teleoperation until the vehicle can resume semiautonomous operation.

关键词：光机电；机器人；控制系统；任务；运营商

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In this chapter, three types of Gorilla Robots developed as the Multi-Locomotion Robot were described. Gorilla Robot was designed to be able to perform biped locomotion, quadruped locomotion, and brachiation etc. The hardware configuration of each Gorilla Robot and control system architecture were presented. In the subsequent chapters, Gorilla Robot is employed in some experiments.

关键词：光机电；机器人；多移动性

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The difficulties one faces when developing a service robot increase exponentially with the number of different modules and functions to be included. In the DESIRE project a new service robot was to be built as a means for advancing and demonstrating the convergence of service robotics technologies. It also had to meet the often contradicting requirements and demands of all thirteen partners and their heterogeneous software modules and functions which they committed to this project. In this article we will discuss the development process of the hardware of the DESIRE technology platform. Starting with the listing and description of the different components and requirements we will describe the development process of the platform's frame and internal structure as well as the design of the outer cover. We expect this chapter to be used as inspiration and guideline for other engineers in upcoming projects with similar settings concerning system complexity and team composition. We are confident that the experience of the robot development process gathered within a large joint research project will help others to identify potential pitfalls and challenges for a robot's hardware design beforehand and thus reduce the effort, time and resources needed for future service robot development.

关键词：光机电；机器人；硬件设计

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Robot path planning is about finding a collision free motion from one position to another. Efficient algorithms for solving problems of this type have important applications in areas such as: industrial robotics, computer animation, drug design, and automated surveillance. In this paper, a modified A~* algorithm is used for optimizing the path. Different from the approaches that only choose the shortest routes, this method estimates the energy consumption and chooses the most energy efficient routes. As mobile robots are powered by batteries, their energy is limited. Therefore, how to minimize energy consumption is an important problem. The basic idea is to minimize unnecessary stops and turns for mobile robots that cause acceleration and deceleration and consumes significant energy. Simulation results are presented on various environments with different levels of complexity depending on the density of the obstacles. The effectiveness of the proposed approach is evaluated in terms of number of movement steps, path length, energy consumption, number of turns and time. The experimental results show that our approach can provide effective path by reducing the number of turns compared to A~*, thus saving energy. All paths generated were optimal in terms of length and smoothness.

关键词：光机电；机器人；路径规划；能源消耗；优化路径

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In this paper we give a general overview of the development process carried out in the DESIRE project. This process can be roughly split up into four main phases, from specification in the beginning over two integration phases up to optimisation in the end. With a large variety of technologies and expertises involved, the development of a complex service robot system such as the DESIRE technology platform proved to reveal many challenges on technical as well as organisational level. Several of these issues are highlighted in this paper with the goal to derive useful guidelines for other robotics projects.

关键词：光机电；机器人；开发

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Integrating the components described in the previous articles of this chapter, we introduce the Bielefeld "Curious Robot", which is able to acquire new knowledge and skills in direct human-robot interaction. This paper focuses on the cognitive architecture of the overall system. We propose to combine (i) a communication layer based on a generic, human-accessible XML data format, (ii) multiple low-level sensor and control processes publishing their sensor information into the system and receiving commands or parameterizations from higher-level deliberative processes, and (iii) high-level coordination processes based on hierarchical state machines. The efficiency of the proposed approach is shown in an interactive tutoring scenario, where the Bielefeld "Curious Robot", a bimanual robot system, should learn to identify, grasp, and clean various everyday objects from a table. The capability of the system to interact with lay persons is proven in a user study.

关键词：光机电；机器人；交互；策略

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In the current monitoring system, for the monitoring sites (such as storage, home, radioactive places and other harmful places), no dead ends and comprehensive monitoring is completed by installing a large number of fixed cameras and hiring many security persons to achieve, a lot of cameras installed are complicated; expensive and wasting a lot of manpower and material resources. Meanwhile, the fixed camera monitoring is just rigid; no early warning functions and requiring the security persons to be on duty all the time. At the same time, the records of on-site monitoring need to be large capacity storage medium. Therefore, to solve the problems of above in practical, we design an intelligent network monitoring system which is a set of non-dead mobile monitoring; automatic warning; automatic voice alerting; automatic storage of suspicious scene. By fixing the cameras; wireless routers; GPRS module; voice module and power management modules, with the Altera DE2 board to build a wheeled robot. The wheeled robot realizes the real-time monitoring of unmanned sites and solves the issues of complex installing and adverse monitoring to a large extent.

关键词：光机电；机器人；FPGA；DE2；监控

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关键词：光机电；机器人；爬虫；二叉树

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The color and shape feature are very important quality characteristic for classification of fruits. The dominant grading color histogram feature and radius normal angle histogram feature were presented in this paper. They can well represent the color and shape information of fruits respectively and are not sensitive to the changes of scale, translation and rotation. Experiment results showed both histogram features can effectively distinguish between different grade fruits and have high classification accuracy. They are suitable for real-time application.

关键词：光机电；机器人；直方图；分类；机器视觉

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