第七章 智能机器人简介,7.1 制造业与非制造业机器人,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：又称工业机器人，用于制造领域； 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2大特点： 特异性：特种机器人 智能性：智能机器人,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 典型非制造业机器人,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 Vehicles,NASA 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 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 robotics,Space Shuttle robot arm developed by Canadian Space Agency.,Mars Exploration Rover.,Artists conception of “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, developed by the University 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 Rover robot arm, developed by Alliance Space systems, Inc., for JPL.,Advanced dexterous manipulator arm for space applications developed at DLR.,Dexterous four-fingered hand developed for space applications at DLR.,SARCOS dexterous hand capable of force control.,Special Purpose Dexterous Manipulator on the end of the Space Station Remote Manipulator System, both developed for the Canadian Space Agency. The SSRMS is now in-flight, and the SPDM is awaiting launch.,Humanoids,Dynamic balancing wheeled humanoids at NASA, Toyota and MIT.,Dexterous hands at DLR, Shadow, NASA and Tsukuba.,Dexterous arms 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 APPLICATIONS,Robotics for medical applications started fifteen years ago while for biological applications it is rather new (about five years old).,High-throughput systems for DNA sequencing (U. Of Washington) 2004,Doctors perform knee surgery using a robotic system (Taylor, 2004).,Networked Robots,Networked Robots refers to multiple robots operating together in coordination or cooperatively1 with sensors, embedded computers, and human users.,Robotic modules can be reconfigured to “morph” into different locomotion systems including a wheel-like rolling system (left), a snake-like locomotion system (right), a four-legged walking system (bottom).,Sony entertainment robots communicate and coordinate with each other in a game of soccer.,Undersea robotic vehicles.,7.3 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，服务机器人的智能化程度要求更高，应用的范围更加广泛，涉及到的相关技术也更加复杂。,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、家用机器人、消防机器人、监测和勘探机器人等。但一个完整的服务机器人系统通常都由3个基本部分组成：移动机构、感知系统和控制系统。,视觉技术 传感技术及信息融合 智能控制技术 模块化技术 可重构技术 复杂地面移动技术 人机交互技术 多机器人协调技术（multi-agent 技术） 特种机器人设计技术(服务机器人、家用机器人，) 语音识别技术 ,谢 谢,Without robot man is robot,