搜索
397Vol.39,No.720137ACTAAUTOMATICASINICAJuly,201311,.,,,.,,,,,..,2013,39(7):963¡972DOI10.3724/SP.J.1004.2013.00963ResearchProgressonRoboticsTANMin1WANGShuo1AbstractTheresearchesofrobottechnologyaremovingfromthetraditionalindustrytomedicalservice,educationandentertainment,explorationandexploitation,bio-engineering,rescue,etc.,andtherelatedtechnologydevelopsrapidly.Inthispaper,someimportantprogressesinindustrialrobots,mobilerobots,medicalandrehabilitationrobotsandbiomimeticrobotsareintroducedinbrief,andsomeimportantissuesofrobottechnologyaresummarizedbymeansofanalysisandclassi¯cation.Finally,thetrendsinrobottechnologyarediscussed.KeywordsIndustrialrobot,mobilerobot,medicalrobot,rehabilitationrobot,biomimeticrobotCitationTanMin,WangShuo.Researchprogressonrobotics.ActaAutomaticaSinica,2013,39(7):963¡97221,.[1].(FP7)\\,(863)..,,.,,.,,,2013-05-202013-05-24ManuscriptreceivedMay20,2013;acceptedMay24,2013(61273337,51175496)SupportedbyNationalNaturalScienceFoundationofChina(61273337,51175496)RecommendedbyAcademicianHUANGLin1.1001901.StateKeyLaboratoryofManagementandControlforCom-plexSystems,InstituteofAutomation,ChineseAcademyofSci-ences,Beijing100190,.1MEMS,,[2¡4].,.1.1.,.[5¡6].,,,.,,96439.,,.,FANUC3iA,iRVisionForceSensingRobotLinkCollisionGuard,,.,,[7¡9],,,.,.1.2,,./,.,.1.2.1//,,.[10]SLAM[5;11];;,,.,.WillowGaragePR2,,,,.(InstituteofPhysicalandChemicalResearch)RIBA,180,,61[12].PerMMA[13].,/,.Nomad[14],3.61.2mCrusher,1.8m[15].\GPS,,653,200km[16].,[17].Google,30././,,[18¡25].[26¡27].HQ3,286km.1.2.2,.1986[28].,,,..2006,BigDog,150,20km,[29].,AlphaDog7:965,Cheetah29km/h..HyQ.,,,.,Trot,1.8m/s[30].[31].1.2.3..,[32],;.,(Zeromomentpoint,ZMP)[33],.ASIMO,1.3m,6km/h[34],\8,,.HRP-21.5m[35],.0.6mQIRO.AldebaranRobotics0.57mNao,,[36].,Petman,,[37]..KDW,\.BRH,1.58m,32,lkm/h,.HIT.THBIP-I.,.,[38].[39].1.2.4,[40¡41].\\\\.\,3m,2.7m,2.2m,900,2.2m,45,4cm/s.,\,..,[42],6{,[43].[44],.1.2.5,,[45],.(Remotelyoperatedvehicle,ROV),,,.11000mKaiko,10911m,296.JAMSTECABISMO[46].(WoodsHoleOceanographicInsti-tution,WHOI)(Autonomousunderwatervehicle,AUV)Nereus10902m.,96639ROV.,.,[47],..ROVAUV,\CR-02\ARV.\ARV2008,..2012\7062.68m,.1.2.6[48].,;MQ-8,.X45A.,X37BX43.NEURON...wz-5\M22.CK-1ASN..[49],120,40,100km,.60Z-5450,60»1003»6.\2.,[50].1.31.3.13:.,...Kwoh1985,.,ProbotROBODOCAESOPdaVinciZeus..,daVinci,FDA,.daVinci,,[51¡52].,HansenMedical.Mazor.Acrobot.[53]..,[54];,;.,.,.[55¡56].1.3.2.,.7:967,,.MITMIT-Manus,ARMGuideT-WREX,,HWARDGentle/GRUPERT.Ho-comaLokomat,.LokoHelpReoAmbulatorARTHuRALEXLOPES..SwortecSAMotionMaker,,.,RutgersAnkleIIT-HPARRAKRODLeg-RobotNUVABATPGOPAGOAnklebotMIT-AAFO[57]..,,.,[58]..BLEEX[59],701.3m/s.CYBERDYNEHAL[57],,HAL5,.,MITLegexoskeletonYoboticsRoboknee[60]....(Electromyography,EMG).[61].1.4|||,,.,,[62].,[63¡65].,.,MITRoboTunaRoboPike,BlackBass,Heriot-Watt.Essex,,..[66¡67]SPC,,,SPC-3UUV1.6m,1.12m/s,70.7km.[68¡69],,.,..,ACMR5OmniTreadKulkoUncleSam,UncleSam[70].(EPFL)SalamandraMadelineAQUA.FestoSmartbird[71]Mentor..Conro96839.Stickybot.Brachiator.,[72];;;;[73]..(Centralpatterngen-erator,CPG).,,MirrorBotPsikharpax[74]Brain-BasedDe-vices[75]Darwin.,Khepera[76];[77];[78].,MIT[79][80].,.2,.,.,.,;,;,.,.,,.1).,,..2).,..3).,,.,.4)..,.,,,.,,.,{,,,.,7:969,,.3,.,,,,.,,.References1XuYang-Sheng.Intelligentrobotsleadinghigh-techdevel-opment.ChinaScienceDaily,August12,2010(..,2010-08-12)2StephanKD,MichaelK,MichaelMG,JacobL,AnestaEP.Socialimplicationsoftechnology:thepast,thepresent,andthefuture.ProceedingsoftheIEEE,2012,100(SpecialCentennialIssue):1752¡17813McCarthyN.AutonomousSystems:Social,LegalandEth-icalIssues,TechnicalReport,ISBN:1903496489,RoyalAcademyofEngineering,20094HuangYong-An,XiongCai-Hua,XiongYou-Lun.Researchstatusanddevelopmenttrendsofintelligentrobotandap-plication.InternationalAcademicDevelopments,2009,(4):38¡39(,,..,2009,(4):38¡39)5GarciaE,JimenezMA,DeSantosPG,ArmadaM.Theevolutionofroboticsresearch|fromindustrialroboticsto¯eldandservicerobotics.IEEERoboticsandAutomationMagazine,2007,14(1):90¡1036TanMin,XuDe,HouZeng-Guang,WangShuo,CaoZhi-Qiang.AdvancedRobotControl.Beijing:HigherEducationPress,2007(,,,,..:,2007)7WangTian-Ran,QuDao-Kui.Opensystemarchitectureforcontrolsystemforindustrialrobot.Robot,2002,24(3):256¡261(,..,2002,24(3):256¡261)8SunTian-Hui,TianWen-Jie,WangHui,HuangTian.Kine-maticcalibrationof3-DOFspindleheadusingdouble-ballbar.JournalofMechanicalEngineering,2012,48(5):22¡27(,,,..,2012,48(5):22¡27)9LvHong-Bo,SongYi-Xu,JiaPei-Fa.Incorporationofpriorknowledgeinadaptivelearningformodelingtheroboticpro-¯legrinding.Robot,2011,33(6):641¡648(,,..,2011,33(6):641¡648)10MaSong-De,ZhangZheng-You.ComputerVision:Com-putationTheoryandPrimaryAlgorithms.Beijing:SciencePress,2003(,.:.:,2003)11ZhuJi-Hua,ZhengNan-Ning,YuanZe-Jian,ZhangQiang.ASLAMalgorithmbasedoncentraldi®erenceparticle¯lter.ActaAutomaticaSinica,2010,36(2):249¡257(,,,.SLAM.,2010,36(2):249¡257)12MukaiT,NakashimaH,KatoY,SakaidaY,GuoS,HosoeS.Developmentofanursing-careassistantrobotRIBAthatcanliftahumaninitsarms.In:Proceedingsofthe2010IEEE/RSJInternationalConferenceonIntelligentRobotsan