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機器人

·編者按·

21世紀以來，國內(nèi)外對機器人技術(shù)的發(fā)展越來越重視。機器人技術(shù)被認為是對未來新興產(chǎn)業(yè)發(fā)展具有重要意義的高技術(shù)之一。英國皇家工程學(xué)院2009年在《自主系統(tǒng)》的科學(xué)報告中預(yù)測，2019年將迎來機器人革命，習(xí)近平總書記2014年在中國科學(xué)院第十七次院士大會、中國工程院第十二次院士大會上的講話中強調(diào)，機器人的研發(fā)、制造與應(yīng)用是衡量一個國家科技創(chuàng)新和高端制造業(yè)水平的重要標(biāo)志，不僅要提高我國機器人水平，還要盡可能多地占領(lǐng)市場。

機器人（Robot）是自動執(zhí)行工作的機器裝置，它既可以接受人類指揮，又可以運行預(yù)先編排的程序，也可以根據(jù)以人工智能技術(shù)制定的原則綱領(lǐng)行動。聯(lián)合國標(biāo)準(zhǔn)化組織采納了美國機器人協(xié)會給機器人下的定義：“一種可編程和多功能的操作機；或是為了執(zhí)行不同的任務(wù)而具有可用電腦改變和可編程動作的專門系統(tǒng)。一般由執(zhí)行機構(gòu)、驅(qū)動裝置、檢測裝置和控制系統(tǒng)及復(fù)雜機械等組成?！睓C器人是綜合了機械、電子、計算機、傳感器、控制技術(shù)、人工智能、仿生學(xué)等多種學(xué)科的復(fù)雜智能機械，目前已成為世界各國的研究熱點之一，成為衡量一國工業(yè)化水平的重要標(biāo)志。

機器人可大致分為工業(yè)機器人和服務(wù)機器人。在工業(yè)機器人方面，國外的研究起步較早，發(fā)展較為成熟。其中以美國、日本和歐洲為代表，他們根據(jù)各自生產(chǎn)力發(fā)展的需要，研制了各種各樣的機器人。我國機器人的研究制造以工業(yè)機器人為主，始于20世紀70年代，發(fā)展較為迅速。在服務(wù)機器人方面，特別是具有情感和智能的機器人研制領(lǐng)域，各國還沒有明顯的差距。機器人技術(shù)最早應(yīng)用于工業(yè)領(lǐng)域，但隨著機器人技術(shù)的發(fā)展和各行業(yè)需求的提升，在計算機技術(shù)、網(wǎng)絡(luò)技術(shù)、MEMS技術(shù)等新技術(shù)發(fā)展的推動下，機器人技術(shù)正從傳統(tǒng)的工業(yè)制造領(lǐng)域向醫(yī)療服務(wù)、教育娛樂、勘探勘測、生物工程、救災(zāi)救援等領(lǐng)域迅速擴展，適應(yīng)不同領(lǐng)域需求的機器人系統(tǒng)被深入研究和開發(fā)。過去幾十年，機器人技術(shù)的研究與應(yīng)用，大大推動了人類的工業(yè)化和現(xiàn)代化進程，并逐步形成了機器人的產(chǎn)業(yè)鏈，使機器人的應(yīng)用范圍也日趨廣泛。近年來，我國機器人技術(shù)的研究取得了大量成果，機器人產(chǎn)品的市場前景廣闊。

本專題得到了任福繼（日本德島大學(xué)教授）、蔡自興（中南大學(xué)教授、國際導(dǎo)航與運動控制科學(xué)院院士、紐約科學(xué)院院士）的大力支持。

·熱點數(shù)據(jù)排行·

截至2015年9月25日，中國知網(wǎng)（CNKI）和Web of Science（WOS）的數(shù)據(jù)報告顯示，以“機器人（Robot）”為詞條檢索到的期刊文獻分別為19345為與20750條，本專題將相關(guān)數(shù)據(jù)按照：研究機構(gòu)發(fā)文數(shù)、作者發(fā)文數(shù)、期刊發(fā)文數(shù)、被引用頻次進行排行，結(jié)果如下。

研究機構(gòu)發(fā)文數(shù)量排名（CNKI） 　　研究機構(gòu)發(fā)文數(shù)量排名（WOS）

作者發(fā)文數(shù)量排名（CNKI） 　　作者發(fā)文數(shù)量排名（WOS）

期刊發(fā)文數(shù)量排名（CNKI） 　　期刊發(fā)文數(shù)量排名（WOS）

根據(jù)中國知網(wǎng)（CNKI）數(shù)據(jù)報告，以“機器人（Robot）”為詞條檢索到的高被引論文排行結(jié)果如下。

國內(nèi)數(shù)據(jù)庫高被引論文排行

根據(jù)Web of Science統(tǒng)計數(shù)據(jù)，以“機器人（Robot）”為詞條檢索到的高被引論文排行結(jié)果如下。

國外數(shù)據(jù)庫高被引論文排行

國外數(shù)據(jù)庫高被引論文排行（續(xù)表）

·經(jīng)典文獻推薦·

基于Web of Science檢索結(jié)果，利用Histcite軟件選取LCS（Local Citation Score，本地引用次數(shù)）TOP 30文獻作為節(jié)點進行分析，得到本領(lǐng)域推薦的經(jīng)典文獻如下。

Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators

Slotine, JJ; Sastry, SS

Abstract:A methodology of feedback control is developed to achieve accurate tracking in a. class of non-linear, time-varying systems in the presence of disturbances and para meter variations. The methodology uses in its idealized form piecewise continuous feedback control, resulting in the state trajectory sliding along a time-varying sliding surface in the state space. This idealized control law achieves perfect tracking; however, non-idealities in its implementation result in the generation of an undesirable high-frequency component in the state trajectory. To rectify this, it is shown how continuous control laws may be used to approximate the discontinuous control law to obtain robust tracking to within a prescribed accuracy without generating undesirable high-frequency signal. The method is applied to the control of a two-link manipulator handling variable loads in a flexible manufacturing system environment. A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space. A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. A real-time obstacle avoidance approach for mobile robots has been developed and implemented. It permits the detection of unknown obstacles simultaneously with the steering of the mobile robot to avoid collisions and advance toward the target. The novelty of this approach, entitled the virtual force field method, lies in the integration of two known concepts: certainty grids for obstacle representation and potential fields for navigation. This combination is especially suitable for the accommodation of inaccurate sensor data as well as for sensor fusion and makes possible continuous motion of the robot with stopping in front of obstacles. This navigation algorithm also takes into account the dynamic behavior of a fast mobile robot and solves the local minimum trap problem. Experimental results from a mobile robot running at a maximum speed of 0.78 m/s demonstrate the power of the algorithm. We present a new methodology for exact robot motion planning and control that unifies the purely kinematic path planning problem with the lower level feedback controller design. Complete information about the freespace and goal is encoded in the form of a special artificial potential function-a navigation function-that connects the kinematic planning problem with the dynamic execution problem in a provably correct fashion. The navigation function automatically gives rise to a bounded-torque feedback controller for the robot's actuators that guarantees collision-free motion and convergence to the destination from almost all intial free configurations. Since navigation functions exist for any robot and obstacle course, our methodology is completely general in principle. However, this paper is mainly concerned with certain constructive techniques for a particular class of motion planning problems. Specifically, we present a formula for navigation functions that guide a point-mass robot in a generalized sphere world. The simplest member of this family is a space obtained by puncturing a disc by an arbitrary number of smaller disjoint discs representing obstacles. The other spaces are obtained from this model by a suitable coordinate transformation that we show how to build. Our constructions exploit these coordinate transformations to adapt a navigation function on the model space to its more geometrically complicated (but topologically equivalent) instances. The formula that we present admits sphere-worlds of arbitrary dimension and is directly applicable to configuration spaces whose forbidden regions can be modeled by such generalized discs. We have implemented these navigation functions on planar scenarios, and simulation results are provided throughout the paper. Objective: In patients with stroke, the authors tested whether additional sensorimotor training of the paralyzed or paretic upper limb delivered by a robotic device enhanced motor outcome. Methods: Fifty-six patients with stroke and hemiparesis or hemiplegia received standard poststroke multidisciplinary rehabilitation, and were randomly assigned either to receive robotic training (at least 25 hours) or exposure to the robotic device without training. Outcomes were assessed by the same masked raters, before treatment began and at the end of treatment, with the upper extremity component of the Fugl-Meyer Motor Assessment, the Motor Status score, the Motor Power score, and Functional Independence Measurement. Result: The robot treatment and control group had comparable clinical characteristics, lesion size, and pretreatment impairment scores. By the end of treatment, the robot-trained group demonstrated improvement in motor outcome for the trained shoulder and elbow (Motor Power score, p < 0.001; Motor Status score, p < 0.01) that did not generalize to untrained wrist and hand. The robot-treated group also demonstrated significantly improved functional outcome (Functional Independence Measurement-Motor, p < 0.01). Conclusion: Robot-delivered quantitative and reproducible sensorimotor training enhanced the motor performance of the exercised shoulder and elbow. The robot-treated group also demonstrated improved functional outcome. When added to standard multidisciplinary rehabilitation, robotics provides novel therapeutic strategies that focus on impairmentbook=7,ebook=11reduction and improved motor performance. This paper first describes the problem of goals nonreachable with obstacles nearby when using potential field methods for mobile robot path planning. Then, new repulsive potential functions are presented by taking the relative distance between the robot and the goal into consideration, which ensurers that the goal position is the global minimum of the total potential. A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented. In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller. This brief proposes a sliding-mode control method for wheeled-mobile robots in polar coordinates. A new sliding-mode control method is proposed for mobile robots with kinematics in two-dimensional polar coordinates. In the proposed method, two controllers are designed to asymptotically stabilize the tracking errors in position and heading direction, respectively. By combining these controllers together, both asymptotic posture (position and heading direction) stabilization and trajectory tracking are achieved for reference trajectories at global regions except the arbitrary small region around the origin. In particular, constraints on the desired linear and angular velocities as well as the posture of the mobile robot are eliminated unlike the previous studies based on kinematics expressed in polar coordinates. Accordingly, arbitrary trajectories including a circle and a straight line in various forms can be followed even with large initial tracking errors and bounded disturbances. The stability and performance analyzes are performed and also simulations are included to confirm the effectiveness of the proposed scheme. We describe an implemented architecture that integrates a map representation into a reactive, subsumption-based mobile robot. As an alternative to hybrid methods, which separate the reactive and traditional planning parts of the control system, we present a fully integrated reactive system that removes the distinction between the control program and the map. Our method was implemented and tested on a mobile robot equipped with a ring of sonars and a compass, and programmed with a collection of simple, incrementally designed behaviors. The robot performs collision-free navigation, dynamic landmark detection, map construction and maintenance, and path planning. Given any known landmark as a goal, the robot plans and executes the shortest known path to it. If the goal is not reachable, the robot detects failure, updates the map, and finds an alternate route. The topological representation primitives are designed to suit the robot's sensors and its navigation behavior, thus minimizing the amount of stored information. Distributed over a collection of behaviors, the map itself performs constant-time localization and linear-time path planning. The approach we present is qualitative and tolerant of sensor inaccuracies, unexpected obstacles, and course changes. It extends the repertoire of integrated reactive systems to tasks requiring spatial modeling and user interaction.

來源出版物：International Journal of Control, 1983, 38(2): 465-492

On the adaptive-control of robot manipulators

Slotine, JJE; Li, WP

來源出版物：International Journal of Robotics Research, 1987, 6(3): 49-59

A unified approach for motion and force control of robot manipulators: The operational space formulation

Khatib, O

The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force control is developed. The extension of this formulation to redundant manipulator systems is also presented, constructing the end-effector equations of motion and describing their behavior with respect to joint forces. These results are used in the development of a new and systematic approach for dealing with the problems arising at kinematic singularities. At a singular configuration, the manipulator is treated as a mechanism that is redundant with respect to the motion of the end-effector in the subspace of operational space orthogonal to the singular direction.

來源出版物：IEEE Journal of Robotics and Automation, 1987, 3(1): 43-53

Real-time obstacle avoidance for fast mobile robots

Borenstein, J; Koren, Y

來源出版物：IEEE Transactions on Systems, Man and Cybernetics, 1989, 19(5): 1179-1187

Exact robot navigation using artificial potential functions

Rimon, E; Koditschek, DE

Keywords:time obstacle avoidance; mobile robots; manipulators; motion robotics; robot; aids; stroke; motor recovery GNRON problem; new repulsive potential function; potential field adaptive backstepping; adaptive tracking control; dynamic model; nonholonomic mobile robot polar coordinates; posture stabilization; sliding-mode control; trajectory tracking; wheeled-mobile robots

來源出版物：IEEE Transactions on Robotics and Automation, 1992, 8(5): 501-518

A novel approach to stroke rehabilitation: Robot-aided sensorimotor stimulation

Volpe, BT; Krebs, HI; Hogan, N; et al.

來源出版物：Neurology, 2000, 54(10): 1938-1944

New potential functions for mobile robot path planning

Ge, SS; Cui, YJ

來源出版物：IEEE Transactions on Robotics and Automation, 2000, 16(5): 615-620

Adaptive tracking control of a nonholonomic mobile robot

Fukao, T; Nakagawa, H; Adachi, N

來源出版物：IEEE Transactions on Robotics and Automation, 2000, 16(5): 609-615

Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates

Chwa, D

來源出版物：IEEE Transactions on Control Systems Technology, 2004, 12(4): 637-644

Integration of representation into goal-driven behavior-based robots

Mataric, MJ

來源出版物：IEEE Transactions on Robotics and Automation, 1992, 8(3): 304-312

·高被引論文摘要·

被引頻次：1101

文獻編號本領(lǐng)域經(jīng)典文章題目第一作者來源出版物1 Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators Slotine, JJ International Journal of Control, 1983, 38 (2): 465-492 2On the adaptive-control of robot manipulators Slotine, JJE International Journal of Robotics Research, 1987, 6(3): 49-59 3 A unified approach for motion and force control of robot manipulators: The operational space formulation Khatib, O IEEE Journal of Robotics and Automation, 1987, 3(1): 43-53 4Real-time obstacle avoidance for fast mobile robots Borenstein, J IEEE Transactions on Systems, Man and Cybernetics, 1989, 19(5): 1179-1187 5 Exact robot navigation using artificial potential functions Rimon, E IEEE Transactions on Robotics and Automation, 1992, 8(5): 501-518 6 A novel approach to stroke rehabilitation: Robot-aided sensorimotor stimulation Volpe, BT Neurology, 2000, 54(10): 1938-1944 7New potential functions for mobile robot path planning Ge, SS IEEE Transactions on Robotics and Automation, 2000, 16(5): 615-620 8 Adaptive tracking control of a nonholonomic mobile robot Fukao, T IEEE Transactions on Robotics and Automation, 2000, 16(5): 609-615 9 Sliding-mode tracking control of nonholonomic wheeled mobile robots in polar coordinates Chwa, D IEEE Transactions on Control Systems Technology, 2004, 12(4): 637-644 10 Integration of representation into goal-driven behaviorbased robots Mataric, MJ IEEE Transactions on Robotics and Automation, 1992, 8(3): 304-312