智能机器人讲座.

1、第七章第七章 智能机器人简介智能机器人简介7.1 7.1 制造业与非制造业机器人制造业与非制造业机器人 服务机器人服务机器人是一种半自主或全自主工作的机器人，它能够完成有益于人类的服务工作，但不包括从事生产的设备。制造业机器人制造业机器人：又称工业机器人，用于制造领域； 非制造业机器人：非制造业机器人：用于非制造业，例如医用机器人、农业机器人、军用机器人非制造业机器人非制造业机器人2大特点大特点： 特异性： 智能性：一. 智能机器人应用领域未知环境动态环境人机共存特种环境（爆炸、火灾、地震、）二. 科技新进展与民间艺人共舞的机器人“HRP2”7.2 7.2 典型非制造业机器人典型非制造业机器人

2、能思考学习”世界最聪明机器人“诞生韩国开发出新型智能机器人“HUBO”主从式机器人 自治潜水器 “双鹰”水下机器人水下扫雷机器人水下扫雷机械蟹护士助手脑外科机器人辅助系统格林系统智能轮椅导盲机器人缆索机器人擦窗机器人面壁清洗机器人飞机清洗机器人隧道凿岩机器人大型喷浆机器人6.14米盾构掘进机器人 导游机器人自动无轨堆垛机英国的“手推车”机器人“土拨鼠”（右）和“野牛”（左）排爆机器人德国的排爆机器人遥控扫雷车美国Cybermotion公司室外保安机器人 安防机器人 魔爪军用机器人可执行拆除简易爆炸装置等危险任务“徘徊者”侦察机器人鬼怪式无人机“微星无人机”月球车在月球美国火星探测机器人日本火星

3、探测机器人中科大月球机器人北航多指灵巧手国防科大“先行者”类人型机器人北理工人形机器人管道机器人 双足步行机器人在爬楼梯足球机器人机器昆虫aibo机器狗军用昆虫机器人Robotic VehiclesNASA Mars Rover (NASA Jet Propulsion Laboratory JPL).Agricultural robotic vehicle (Int Harv, U.S.)Mining haul truck (ACFR, Australia)IBOT advanced wheel chair (DEKA, U.S.).Solar-powered AUV (Autonomous

4、 Undersea Systems Institute (AUSI),FSL, Rensselaer Polytechnic Institute (RPI), U.S.).Examples of military and defense robotic vehicles.Personal and service robots (Hanool, S. Korea).Space roboticsSpace Shuttle robot arm developed by Canadian Space Agency.Mars Exploration Rover.Artists conception of

5、 “Robonaut” (an “astronaut-equivalent” robot) performing space assembly.1.5 kg Nanorover developed by JPL for asteroid or Mars exploration.Nomad rover, developed by Carnegie-Mellon University, explored part of Antarctica in 1997 and 1998, and the Atacama desert in Chile in 19967.Ranger Manipulator,

6、developed by theUniversity of Maryland, to demonstrate a wide variety of competent manipulation tasks in Earth orbit. Flight hardware was developed in the 1990s for both an expendable launch vehicle and the Space Shuttle, but at present there is no manifest for a flight experiment.Mars Exploration R

7、over robot arm,developed by Alliance Space systems, Inc., for JPL.Advanced dexterous manipulator arm for space applications developed at DLR.Dexterous four-fingered handd e v e l o p e d f o r s p a c e applications at DLR.SARCOS dexterous hand capable of force control.Special Purpose Dexterous Mani

8、pulator on the end of the Space Station Remote ManipulatorSystem, both developed for the Canadian Space Agency. The SSRMS is now in-flight, and the SPDM isawaiting launch.HumanoidsDynamic balancing wheeled humanoids at NASA, Toyota and MIT.Dexterous hands at DLR, Shadow, NASA and Tsukuba.Dexterous a

9、rms at DLR, NASA and UMASS.Examples of robots. A FANUC industrial robot (left), a service robot used for security made by Mobile Robotics (center), and a personal entertainment robot made by Sony (right).ROBOTICS FOR BIOLOGICAL AND MEDICAL APPLICATIONSRobotics for medical applications started fiftee

10、n years ago while for biological applications it is rather new (about five years old).High-throughput systems for DNA sequencing (U. Of Washington) 2004Doctors perform knee surgery using a robotic system (Taylor, 2004).Networked RobotsNetworked Robots refers to multiple robots operating together in

11、coordination or cooperatively1 with sensors, embedded computers, and human users.Robotic modules can be reconfigured to “morph” into different locomotion systems including awheel-like rolling system (left), a snake-like locomotion system (right), a four-leggedwalking system (bottom).Sony entertainme

12、nt robots communicate and coordinate with each other in a game of soccer.Undersea robotic vehicles.日本“2007年度机器人”大奖FANUC抓取装箱机器人可以抓取装箱机器人可以通过自带的摄像头识别散放通过自带的摄像头识别散放在传送带上的物品，用在传送带上的物品，用3个机个机械臂顶端的吸盘将物品吸起，械臂顶端的吸盘将物品吸起，再把它们放进成排的包装箱再把它们放进成排的包装箱内。台机器人能够以每分钟内。台机器人能够以每分钟120个以上的速度抓取传送个以上的速度抓取传送带上快速移动的物品。带上快速移动的物品。7.3 7.3 智能机器人相关技术简介智能机器人相关技术简介智能服务机器人是在非结构环境下为人类提供必要服务的多种高技术集成的智能化装备。与工业机器人相比，服务机器人的，涉及到的。虽然服务机器人分类广泛，有清洁机器人、医用服务机器人、护理和康复机器人、家用机