Abstract: For fruit and vegetable harvesting robot, the RD status in the world is reviewed and the basic strucutre is presented in this paper. Also, the relevant key techniques are summarized, and the existing problems are pointed out.

Abstract: Based on the classification of bio-inspired robots, this paper describes some bio-inspired robots which have been used or are under development. Furthermore, the future of bio-inspired robots is forecastd.

Abstract: The global performance index η presented by Gosselin is analyzed,and a better method is introduced to overcome its deficiency.Then the authors present a global performance fluctuating index σ,and suggest that the new integrated global performance index should be used as the objective function to optimize the dimensions of robotic manipulators.At last,an effective example is provided to illustrate the feasibility of the proposed method.

Abstract: This paper introduces the software and hardware architecture of the intelligent iterative inspection robot based on the modular design concept,and presents a method for kinematic modeling and obstacle avoiding.Furthermore,the field running result of the robot is described.

Abstract: To give a reference for the overall design of ROV(remotely operated vehicles), typical ROVs and their working systems in the world are introduced in this paper. For the ROV status and difficulties of subsea manipulators and underwater tools, key points are discussed and analysed, and trends and suggestions are given for the future research work.

Abstract: In order to solve the robot inverse kinematics in screw theory, the motion equation is usually divided into several sub-problems. At present, the combination of ordinary sub-problem cant achieve the inverse kinematics of all type of robots. A new type of sub-problem is proposed in this paper, and its solution and constraint conditions are given. In addition, its application in parallel robots with RTS chain is demonstrated to verify its feasibility. Finally, a method using the combination of the motion screws with the same effect on the reference point is obtained to simplify robot inverse kinematics.

Abstract: A novel reconfigurable planetary robot system is presented Based on the decomposition of functions and configuration, a modularized control system is designed, using CAN as a main communication method among the modules With the control principle and the centralized control algorithm proposed, the locomotion and manipulation of the robot at different modes is efficiently controlled The experiment with the prototype proves the feasibility of the control system

Abstract: A reconfigurable modular robot is proposed, which can change its configurations to improve its stability and anti-tipover capability. This three-module tracked robot has three kinds of symmetrical configurations, that is, line type, triangle type and row type. Based on analyzing the factors and countermeasures of mobile robot tipover problem, a stability pyramid and the tipover stability index are proposed to determine globally the mobile robot's static and dynamic stability. And the tipover stability index and global stability of the 3 symmetrical configurations of the metamorphic robot under the combined disturbance of pitch, roll and yaw, are discussed. The simulation and experiment in unstructured environment are presented.

Abstract: A new robot for hot-line sweeping of post insulators in substations is introduced Working at high voltage, the robot has to be insulated To ensure insulation, we use methods of insulated elevating scissors mechanism, insulated hydraulic system, two-level control system, optic fiber and wireless communication system, etc The robot integrates technologies from high-voltage insulation, hydraulic driving, insulating material, wireless communication, vision, autocontrol, etc

Abstract: We have a preliminary discussion on the configuration optimization of a new kind of underwater vehicle-Underwater Glider. After studying the shape optimization of the glider, we get an optimized shape design by means of the union simulation of CFX and Matlab. The results show that the union simulation has achieved some good effect, and it has a practical significance for reducing the period and cost of model experiments as well as for studying the underwater vehicles hydrodynamic design, especially for design in scheme design phase.

Abstract: Firstly, the similarity function of the humanoid motion is proposed. Then, the kinematic constraints are formulated, and the algorithm to derive the humanoid motion with a high similarity and satisfying kinematics constraints is present. Finally, the effectiveness is confirmed by the experiment on Chinese "Taijiquan" using our self-developed 33 DOF humanoid robot.

Abstract: The application prospects and the main merits of bio-robots compared with biomimetic robots are introduced With the discussion of the current status at home and abroad, the developing directions and emphasis of the research are forecasted

Abstract: The dead reckoning method of autonomous navigation of AUV (autonomous underwater vehicle) is studied to improve the performance of the navigation system. A test is made on this method with the data from the lake test of AUV, and the results demonstrate that the navigation precision is evidently improved. Hence, this developed method can be applied to revise the original method for autonomous navigation of AUV.

Abstract: This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. The traditional ContractNet protocol is extended, including using case-based reasoning to reduce the scope of inviting bidding, and introducing assistant decision matrix to improve the alliance decision, so as to reduce the communication load during the task negotiation process. The concepts such as the alliance life value and penalty are also introduced. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

Abstract: This paper proposes a scene recognition approach for mobile robot localization. The multi-channel Gabor filters are used to extract the global texture features of the scene images which are associated with the corresponding locations, and then these texture features are fed back to support the vector machine classifier to determine the logical location of the robot. The algorithm has been tested on the autonomous mobile robot CASIA-I designed and developed by us. The experiment results indicate that the algorithm can reach up to a correct localiztion rate of 91.11%, is robust to the various illumination and contrast, and satisfies the real-time localization demand of the mobile robot.

Abstract: A training simulator for explosive-handling robot is introduced.With the efficient human-computer interface,a trainee can operate the simulator to improve his/her skills in controlling the real explosive-handling robot.The emphasis is put on the system architecture and its key technologies,such as the modeling method to construct the explosive-handling robot and its working environment, the simplified kinematics and dynamics model,collision detection and skill evaluation,etc.The feasibility and effectiveness of the system are proved by the experiments.

Abstract: The primary techniques and their technical parameters of humanoid robot in Japan,USA and the Republic of Korea are analyzed in detail.Based on the design of foreign sample humanoid,the author discusses the DOF selection of various parts of humanoid robot,analyzes several driving and control issues.The enlightenment to accelerate the development of humanoid robot in China based on overseas development is provided.

Abstract: Based on the general motion equation of underwater vehicle, linear and nonlinear hydrodynamics are analyzed. The motion equation of underwater vehicle control system is deduced. Thrust calculation of propeller, rudder, wing, and dynamic response of the whole system are discussed. The model provides a theoretical basis for analyzing the physical characteristics of control systems.

Abstract: The design and implementation method of a mobile robot control system for extra-high voltage power transmission line inspection is given Based on the robot task, a kind of obstacle-navigation control method is presented which takes the information of sensors and constraints and the feedback of movement as input and the production system as output The simulation results show that the method is effective to fulfil the robot obstacle-navigation task

Abstract: In order to shorten the RD period of AGV(automated guided vehicle) systems, reduce the cost of RD, find out universal scheduling strategy for different maps, and improve robustness to actual scheduling tasks and malfuct, a two-stage dynamic path planning strategy is developed. Multiple AGV scheduling systems are controlled with the two-stage control strategy, and paths are acquired by dynamic path planning. Several AGVs' paths are planned simultaneously in real time and path optimization is achieved with a heuristic algorithm in dynamic path planning. It is proved with simulation that the strategy improves flexibility of AGV systems and is a universal scheduling strategy for different maps.

Abstract: This paper proposes a novel 4-dof parallel mechanism. The kinematics of this mechanism is presented firstly, and then the kinematics error model is given and analyzed using perturbation method. After a simple review of the kinematics calibration technology of this parallel mechanism, two calibration methods for error model analysis on this mechanism are discussed in detail. Finally, the simulation results are given based on the IK(inverse kinematic) calibration in the Matlab environment.

Abstract: The novel underactuated robot hand can achieve versatile grasp modes with the ingenious mechanism This paper focuses on the problem of autonomous grasp of the underactuated robot hand, and divides the problem into two processes: autonomous decision and grasp control Firstly, the characteristics and grasp modes of the underactuated robot hand are presented Secondly, proper maps between the fuzzy inputs, including grasp task and object features, and the outputs of grasp modes are established using a fuzzy neural network According to the grasp modes, the finger orientations are regulated The control tact based on force sensor feedback is proposed to impose proper forces on all phalanges to achieve stable grasp At last grasp experiments validate the correctness of autonomous decision and control

Abstract: This paper introduces the architecture of an image-based visual servo robot system and the algorithm implemented to track a target with planar motion. This robot system has 5 degrees of freedom, which consists of a robot with 3 DOFs and a 2-DOF wrist attached to the end of the robot. And, a camera is fixed on the end of the wrist. With low inertia, the wrist rotates quickly to track the target, while the 3-DOF robot moves the camera to an appropriate position to take a close look at the target when needed. The system tracks the target successfully. Furthermore, this paper proposes some approaches to improve the system performance, and the experiments verify them.

Abstract: This paper overviews some popular mobile robot probabilistic localization methods in recent years, analyzes and compares the performances of these methods. All of these methods employ the Bayesian rule as a fundamental theory. Firstly, we introduce the Kalman filter which is extensively used in position tracking, and the Markov localization method which has made many successes in global localization. Secondly, the Monte Carlo method is presented, which uses a particle filter technique and are more efficient computationally. The most recently used adaptive sampling methods are also introduced, and they have demonstrated much better results than the simple particle filter approaches. At last, the key technologies of probabilistic localization methods are analyzed, and the trends of research in the future are discussed.

Abstract: This paper describes the design of buoyancy adjusting mechanism,pitch adjusting mechanism and roll adjusting mechanism of an underwater glider,and analyzes the relationship between its movement mechanisms and motion performance.The underwater glider motion performance is analyzed by a method using CFX hydrodynamic calculation software.The hydrodynamic parameters of constant gliding motion are identified with least square method based on CFX calculation results.The space helix turning motion is simplified,and a method for analyzing the turning characteristics and estimating the turning circle radius with CFX hydrodynamic calculation is presented.

Abstract: A robust H~∞ filter is developed for the heading control system of an autonomous underwater vehicle(AUV) to estimate some state variables which are not always available and are often difficult to measure in practice,and we extend the filter's application to the AUV heading control system.The equations of the AUV motions in the body-fixed horizontal plane are established,and they are linearized over a specified operating point to suit for the controller design.A robust H~∞ filter for the AUV heading control system is designed based on the method of linear matrix inequalities(LMIs),and its application to the AUV heading control system is simulated by computer.The simulation results show that the proposed robust H~∞ filter is effective to reject the negative effects of measurement noise and properly estimate the state variables of the system,and it makes much contribution to the performance improvement of the AUV heading control system.

Abstract: This paper presents a path planner in the way of circuit map for the tractor-trailer robots on the basis of equivalent size.It takes the global properties of path planning into consideration,and overcomes the shortcoming of local optimum in some local path planner,e.g.artificial potential field method.The theory analysis and simulation prove the feasibility of this brand new method.

Abstract: Using virtual prototyping technology to model and simulate a certain space robot system, we obtain some important results about the kinematic and dynamic coupling between the satellite and the robot, and the control torques required to stabilize the satellite attitude and to drive the robot to track the given path, etc. The method is applicable to verify path planning, control algorithm, singularity space of the fixed base, free-flying and free-floating robots, etc. Compared with other methods, it has simpler modeling procedure, greater post processing capability and higher visual quality. It is also ~able to realize the closed-loop control simulation for multi-body system.

Abstract: This paper introduces the basic principle of teleoperation system based on force-reflection bilateral control.Then,based on the stability and transparency,a way which can guarantee the stability and improve the transparency is introduced.At last,an experimental teleoperation system is implemented,and a curved surface tracing experiment is completed successfully with the time-delay of 6 seconds.