Study and Development of the Biped Ice Skating Robot with Passive Wheels

A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn.     

OBSTACLE-AVOIDANCE NAVIGATION OF MULTIPLE MOBILE ROBOTS

IntroductionRobo Cup,which involves multiple robots in acomplicated environment to achieve specific objec-tives,poses a common standard problem for aboard spectrum of specialize sub- fields in AI andintelligentrobotic agents[1] .The majorcharacteris-tic of the Robo Cup Soccer competition is the dy-namic nature of environment surrounding robots,which includes the problem addressed in this pa-per.In the current research of it[2 ,3 ] ,when the re-searchers think about the problem of avoiding ob…     

Machine Learning of Multi Agents for RoboCup Soccer Domain： A Survey

Machine learning has been widely applied to deal with problems in complex environment such as RoboCup, which is assumed as the ideal platform for research on AI and robotic. In RoboCup simulation league,software agents play soccer games on an official soccer server over the network. When constructing these software agents, issues in area of agents learning techniques arise to satisfy the properties specified by agent theorists. This paper presented an overview of the agents learning used in the simulator teams. Many kinds of agents learning techniques were reported and compared. It also provided open questions for discussing and pointed out some possible answers to verify in near future.     

地质超前预报在葵岗隧道施工中的应用

以地质雷达法及地震反射波法在葵岗隧道超前预报中的成功运用为例,介绍采用地质雷达法及地震波反射法进行隧道地质超前预报的原理、方法。     

RESEARCH ON A SOCCER SERVER TEAM WITH ENVIRONMENTAL-AGENTS

IntroductionRobot Soccer World Cup( Robo Cup) ,an im-portant application in both Artificial Intelligence( AI) and robotics,has been developed rapidly inrecentyears. The tournament of Robo Cup Simula-tion League uses the soccer server system as thestandard environment. The soccer server systemprovides a rich and challenging multi- agent,real-time domain[1] 。 Every client should finish reason-ing,calculation and send movement commands tothe soccer server in a configured simulation step,ot…     

Dynamic Analysis of the Biped Ice-skater Robot of Passive Wheel Type

A new passive wheel type of biped ice-skater robot （BISR） subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer.     

PRINCIPLE, CONSTRUCTION AND KINEMATIC ANALYSIS FOR THE OMNIDIRECTIONAL MOBILE ROBOT——ICE-SKATER ROBOT

IntroductionAccording to Prof.Shigeo Hirose,there arethree main basic types of locomotion for mobilerobot:1 artificial rotational device,such as wheelsand crawlers,2 legs and 3articulated bodies,which is similar to the body of a snake[1] .Thelegged robot can move on not only an even groundbut rugged terrain and makes omnidirectional mo-tion without slippage,it will increase the totalweight of the robotifa number ofbulky and heavyactuators,steering and braking mechanisms are at-tached to the m…