中國海洋大學機器人研究組

基本信息

中國海洋大學機器人研究組 - 概述本項目致力於對2000年以來世界範圍內的主要特種移動機器人進行信息收集、數據分析和資料整理。建立的資料庫力圖對工作環境類似的移動機器人進行橫向比較，從而掌握機器人科技發展的新動向，為我院系發展特種機器人提出參考性建議，同時也促進多種機器人研究思想的融合貫通。未來還可以在已經建立的資料庫基礎上，運用系統工程、運籌學的原理，發展出輔助特種機器人設計研發的智慧型決策系統。

概述

本項目致力於對2000年以來世界範圍內的主要特種移動機器人進行信息收集、數據分析和資料整理。建立的資料庫力圖對工作環境類似的移動機器人進行橫向比較，從而掌握機器人科技發展的新動向，為我院系發展特種機器人提出參考性建議，同時也促進多種機器人研究思想的融合貫通。未來還可以在已經建立的資料庫基礎上，運用系統工程、運籌學的原理，發展出輔助特種機器人設計研發的智慧型決策系統。

中國海洋大學機器人研究組 - 成員指導老師任憑成員蔡楊,況滿鑫中國海洋大學機器人研究組 - 研究方法

成員

指導老師

成員

蔡楊,況滿鑫

研究方法

閱讀發表於機器人學主要學術會議和學術期刊的英文原始論文，從中摘取特種機器人的工作原理，工作環境，現有性能指標等關鍵信息，並將各種信息分門類保存。整理好的資料以英文網站的形式公布。資料收集的時間範圍暫時定為2000年以來，來源主要包括著名的國際性機器人學術會議，例如：
IEEEInternationalConferenceonRoboticsandAutomation
IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems
ASMEInternationalDesignEngineeringTechnicalConferences；
著名學術期刊，例如：
InternationalJournalofRoboticsResearch
IEEETransactiononRobotics
ASMEJournalofMechanismsandRobotics
JournalofFieldRobots；
綜合性機器人學專著SpringerHandbookofRobotics；
中文教科書文獻以及網際網路上有影響力的科技網站。
對於收集到的信息，可以運用質量機能展開的方法進行初始分析。建立各種特種移動機器人與各種工作環境之間的對應關係。以在某一種特定環境下正常作業為目標，探索評估特種機器人機動性的質量指標。中國海洋大學機器人研究組 - 研究成果雙足式NameInstitution(s)Characteristics
（特徵）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 魚鰭式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 仿動物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 輪式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 履帶式TrackedMobileRobottheCanadaResearchChairProgram,
theNaturalSciencesand
EngineeringResearchCouncil(NSERC),AerospaceEngineering,Ryerson
Universitylargercontactareawith
theterrain,climbing
stairs,surpassing
obstaclesornegotiating
irregularterrainGroundtracked

中國海洋大學機器人研究組

基本介紹

基本信息

概述

成員

研究方法

研究成果

雙足式

滑翔式

魚鰭式

仿動物

輪式

其他

履帶式

相關詞條

熱門詞條

Name	Institution(s)	Characteristics （特徵）	Operation Environment	Locomotion	Prototype
HRP-2	AISTJapan	1.5mtall,58kg bipedal,designed foruseinhuman environmentslike homes,offices,and constructionsites	Ground	Walking	HRP-2 humanoid robot

Name	Institution(s)	Characteristics	Operation Environment	Locomotion	Prototype
MALV1	BioRobotsLLC, USA	118grams,cruising airspeedof approximately11 meters persecond,surmount obstaclesof maximumheight 4.4centimeters	Air&Ground	Flying/ Walking /Leg-Wheel Hybrid	118 gram MALV 1

VisionGuidedMobileRobots	AutomaticControlEngineering(LSR) AdvancedStudy(IAS)	anautonomousswitching betweentwobasic attentionselection mechanisms,top-downand bottom-up,isproposed, substitutingmanual switching	Ground	steer
powersubstation equipmentinspection robot	ShandongJianzhuUniversity	formakindoffull monitorsystemfor substationtogreatly improvethesafety, dependabilityandreality ofthesubstation inspection	Ground	tumble

Odin		changeitsphysical structureandbehavior eachtimeitisreconfigured	Ground
compactmagneticwheeledrobot	RoboticsandIntelligent Systems	doinspectionand vibrationmeasurementsinthehousingsoflarge generatorsandsimilar environmentsinpower plants	Ground	Climbing/ wheeled
Tumbling	UniversityofMinnesota	takesadvantageof ground-bodyinteractions toachieverichmotions withminimalhardware complexity	Ground	tumble

Name	Institution(s)	Characteristics	OperationEnvironment	Locomotion	Prototype
Aerobot	CentreforIntelligentMachines	fullactuationtoenablesix-dofmotionandre-quirementforautonomouslocalization	air	fly



HybridMobileRobot	TheGeorgeWashingtonUniversity	Thiswasaccomplishedby integratingthelocomotionmechanismandthemanipulatorarmmechanismasone	Ground	Climbing