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Yang LIU, Jing LIU
《机械工程前沿(英文)》 2012年 第7卷 第4期 页码 376-384 doi: 10.1007/s11465-012-0352-1
This article is dedicated to present a review on existing challenges and latest developments in surgical robotics in attempts to overcome the obstacles lying behind. Rather than to perform an exhaustive evaluation, we would emphasize more on the new insight by digesting the emerging bio-inspired surgical technologies with potentials to revolutionize the field. Typical approaches, possible applications, advantages and technical challenges were discussed. Evolutions of surgical robotics and future trends were analyzed. It can be found that, the major difficulties in the field of surgical robots may not be properly addressed by only using conventional approaches. As an alternative, bio-inspired methods or materials may shed light on new innovations. While endeavors to deal with existing strategies still need to be made, attentions should be paid to also borrow ideas from nature.
关键词: minimally invasive surgery surgical robotics haptic feedback miniaturization bio-inspiration bionics
I-Ming CHEN, Feng GAO
《机械工程前沿(英文)》 2012年 第7卷 第2期 页码 99-99 doi: 10.1007/s11465-012-0319-2
韩晓光,朱小龙,姜宇桢,何达,刘文勇,段星光,田伟
《中国工程科学》 2023年 第25卷 第5期 页码 43-54 doi: 10.15302/J-SSCAE-2023.07.031
Stiffness analysis and experimental validation of robotic systems
Giuseppe CARBONE
《机械工程前沿(英文)》 2011年 第6卷 第2期 页码 182-196 doi: 10.1007/s11465-011-0221-3
Stiffness can be considered of primary importance in order to guarantee the successful use of any robotic system for a given task. Therefore, this paper proposes procedures for carrying out both numerical and experimental estimations of stiffness performance for multibody robotic systems. The proposed numerical procedure is based on models with lumped parameters for deriving the Cartesian stiffness matrix. Stiffness performance indices are also proposed for comparing stiffness performance. Then, an experimental procedure for the evaluation stiffness performance is proposed as based on a new measuring system named as Milli-CATRASYS (Milli Cassino Tracking System) and on a trilateration technique. Cases of study are reported to show the soundness and engineering feasibility of both the proposed numerical formulation for stiffness analysis and experimental validation of stiffness performance.
关键词: robotics stiffness performance numerical and experimental estimations
《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0699-x
关键词: adhesion bioinspired attachment biomimetic gripper climbing robot
Comparison of indices for stiffness performance evaluation
Giuseppe CARBONE, Marco CECCARELLI,
《机械工程前沿(英文)》 2010年 第5卷 第3期 页码 270-278 doi: 10.1007/s11465-010-0023-z
用于Aerostack空中机器人框架的一种执行控制方法 None
Martin MOLINA, Alberto CAMPORREDONDO, Hriday BAVLE, Alejandro RODRIGUEZ-RAMOS, Pascual CAMPOY
《信息与电子工程前沿(英文)》 2019年 第20卷 第1期 页码 60-75 doi: 10.1631/FITEE.1800552
关键词: 空中机器人;控制结构;行为控制;执行系统
Static balancing of planar articulated robots
Giuseppe QUAGLIA,Zhe YIN
《机械工程前沿(英文)》 2015年 第10卷 第4期 页码 326-343 doi: 10.1007/s11465-015-0355-9
Static balancing for a manipulator’s weight is necessary in terms of energy saving and performance improvement. This paper proposes a method to design balancing devices for articulated robots in industry, based on robotic dynamics. Full design details for the balancing system using springs are presented from two aspects: One is the optimization for the position of the balancing system; the other is the design of the spring parameters. As examples, two feasible balancing devices are proposed, based on different robotic structures: The first solution consists of linkages and springs; the other consists of pulleys, cross mechanisms and (hydro-) pneumatic springs. Then the two solutions are compared. Pneumatic, hydro-pneumatic and mechanical springs are discussed and their parameters are decided according to the requirements of torque compensation. Numerical results show that with the proper design using the methodology presented in this paper, an articulated robot can be statically balanced perfectly in all configurations. This paper therefore provides a design method of the balancing system for other similar structures.
关键词: robotics static balancing pneumatic spring mechanical spring torque compensation
机器人任务规划:基于PDDL和ASP的任务规划系统实验比较研究 Special Feature on Intelligent Robats
Yu-qian JIANG, Shi-qi ZHANG, Piyush KHANDELWAL, Peter STONE
《信息与电子工程前沿(英文)》 2019年 第20卷 第3期 页码 363-373 doi: 10.1631/FITEE.1800514
Artificial intelligence in gastroenterology: where are we heading?
Joseph JY Sung, Nicholas CH Poon
《医学前沿(英文)》 2020年 第14卷 第4期 页码 511-517 doi: 10.1007/s11684-020-0742-4
关键词: artificial intelligence endoscopy robotics gastrointestinal diseases
美国国防部先进研究项目局举办的机器人大挑战赛的参与和崎岖地面行走的滑雪式步态 Article
王宏飞, 李诗濛, 郑元芳
《工程(英文)》 2015年 第1卷 第1期 页码 36-45 doi: 10.15302/J-ENG-2015006
本文简要介绍了美国国防部先进研究项目局举办的机器人大挑战赛的历史,并将关注的焦点放在了2012机器人挑战赛上。作为该挑战赛DRC-HUBO队的成员,我们为完成崎岖地面的任务提出了不同的方法,如增大脚踏板、转换成四足行走等。同时,本文还介绍了一种帮助提高仿人机器人运动稳定性的新步态——滑雪式步态。本文对该步态的稳定性进行了分析,并利用稳定度裕量从两种备选的步进顺序(爬行-1和爬行-2)中进行选择。接下来,本文对滑雪式步态中冗余的闭链系统进行力/力矩分析,通过最小化总耗能量来确定关节力矩。根据稳定性分析和力/力矩分析,我们设计了一种手杖长度,使其可以支撑HUBO2仿人机器人平台稳定地实现爬行-2步态。最后,通过将本文的试验结果和两足步行进行对比,验证了滑雪式步态的可行性。同时,介绍了我队在该机器人挑战赛上的表现。
Application of artificial intelligence in surgery
Xiao-Yun Zhou, Yao Guo, Mali Shen, Guang-Zhong Yang
《医学前沿(英文)》 2020年 第14卷 第4期 页码 417-430 doi: 10.1007/s11684-020-0770-0
关键词: artificial intelligence surgical autonomy medical robotics deep learning
荔建琦,陈火旺,王兵山
《中国工程科学》 2001年 第3卷 第1期 页码 62-70
由于无法得到准确的期望效用函数,在信息不完全和结果不确定的环境下作出决策是困难的。提出基于候选方案排序的进化决策方法。通常通过分析得出一组与候选方案期望效用相关的指标,设计决策规则归结为寻找二者之间的相关关系。如果将所有候选方案按其对效用有影响的指标分为n类,并利用进化算法在n!空间中搜索全部方案的期望效用排序,则根据此排序作出最佳决策。提出针对排序问题的遗传算法。该方法较少依赖专家知识,无须显式地构造期望效用函数,能有效处理非数值或非量化指标以及指标冲突和指标相关等问题,在带随机噪声环境下仍能获得稳健解。在仿真机器人控制器设计中的应用表明了该方法的有效性。
标题 作者 时间 类型 操作
Surgical robotics: A look-back of latest advancement and bio-inspired ways to tackle existing challenges
Yang LIU, Jing LIU
期刊论文
Introduction to the special issue on the “IFToMM International Symposium on Robotics and Mechatronics
I-Ming CHEN, Feng GAO
期刊论文
Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics
期刊论文
用于Aerostack空中机器人框架的一种执行控制方法
Martin MOLINA, Alberto CAMPORREDONDO, Hriday BAVLE, Alejandro RODRIGUEZ-RAMOS, Pascual CAMPOY
期刊论文
Artificial intelligence in gastroenterology: where are we heading?
Joseph JY Sung, Nicholas CH Poon
期刊论文
Application of artificial intelligence in surgery
Xiao-Yun Zhou, Yao Guo, Mali Shen, Guang-Zhong Yang
期刊论文