全球人形机器人研究新进展：应用与跨领域探索

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"《人类仿生机器人：新进展》一书探讨了人类形态机器人领域的前沿研究，这些研究旨在不仅创造出具备自主性的机器人，还通过模拟人类身体系统的特性，来深化我们对生物力学、生物模仿学、控制论等领域的理解。书中收录了一系列来自全球各地研究人员的贡献，他们共同分析和讨论了关于机器人手部设计、学习能力、语言处理、视觉系统和运动控制等方面的关键议题。在本书中，读者可以了解到最新的科研成果，如如何设计出更加逼真、灵活的机械手指，以及如何利用深度学习算法让机器人模仿人类的学习过程。此外，书中也涵盖了视觉传感器和计算机视觉技术的发展，这些技术使得机器人能更好地理解和适应复杂的环境。语言交流是另一个关键领域，研究者们探索了如何使机器人具备自然对话的能力，从而与人类进行更有效的交互。在机器人运动控制方面，作者们分享了关于行走、奔跑和平衡控制的新方法，这些进步对于康复机器人技术具有重要意义，可以帮助伤残人士恢复日常生活功能。同时，书中还探讨了机器人在康复领域可能的应用，比如定制化的物理治疗和陪伴护理。总体而言，《人类仿生机器人：新进展》这本书不仅提供了丰富的学术资源，为后续的研究提供了灵感和方向，还激发了公众对这一交叉学科的兴趣，即机器人技术与人体科学的融合。它标志着我们在迈向更智能、更人性化的机器人技术道路上迈出了坚实的步伐，同时也提醒我们，尽管取得了显著的进步，但在伦理、安全和隐私等方面仍需谨慎对待。"

Design of Modules and Components for Humanoid Robots 7

Fig. 4. Topology optimization scheme.

4.1 Topology optimization of robot thorax

The design of the central support structure of the upper body, the thorax, of the humanoid

robot ARMAR III was determined with the help of topology optimization. The main

functions of this element are the transmission of forces between arms, neck and torso joint

and the integration of mechanical and electrical components, which must be accommodated

for inside the robot’s upper body. For instance four drive units for the elbows have to be

integrated in the thorax to reduce the weight of the arms, electrical components like two PC-

104s, four Universal Controller Modules (UCoM), A/D converters, DC/DC converters and

force-moment controllers.

Fig. 5. Topology optimization of the thorax.

10 Humanoid Robots, New Developments

Part D.O.F amount total

Wrist

Elbow

Shoulder

Neck

Torso

Degree of

freedom

Upper body 21

Wrist ǉ

-30° to 30°

-60° to 60°

Elbow ǉ

-90° to 90°

-10° to 150°

Shoulder ǉ

-180° to 180°

-45° to 180°

-10° to 180°

Neck ǉ

-180° to 180°

-45° to 45°

-60° to 60°

Range of

motion

Torso ǉ

-180° to 180°

-10° to 60°

-20° to 20°

Table 1. Degrees of freedom with range of motion.

5.1 Shoulder joint

The shoulder joint is the link between the arm and the torso. In addition to the realization of

three degrees of freedom with intersecting axes in one point, the bowden cables for driving

the elbow joint are guided through the shoulder joint from the elbow drive units in the torso

to the elbow. The drive units of all joints are designed in a way, that their contributions to

the inertia are as small as possible. Therefore the drive unit for panning the arm (Rot. 1),

which has to provide the highest torque in the arm, is attached directly to the torso and does

not contribute to the inertia of the moving part of the arm. The drive units for raising the

arm (Rot. 2) and turning the arm around its longitudinal axis (Rot. 3) have been placed

closely to the rotational axes to improve the dynamics of the shoulder joint. In order to

achieve the required gear ratios in the very limited design space, Harmonic Drive

transmissions, worm gear transmissions and toothed belt transmissions have been used.

These elements allow a compact design of the shoulder with a size similar to a human

shoulder. As all degrees of freedom are realized directly in the shoulder, the design of the

upper arm is slender. The integration of torque sensors in all three degrees of freedom is

realized in two different ways. For the first degree of freedom strain gages are attached to a

torsion shaft which is integrated in the drive train. The torque for raising and turning the

arm is determined by force sensors that measure the axial forces in the worm gear shafts. In

addition to the encoders, which are attached directly at the motors, angular sensors for all

three degrees of freedom are integrated into the drive trains of the shoulder joints. The

position sensors, which are located directly at the joints, allow quasi-absolute angular

position measurement based on incremental optical sensors. A touch-sensitive artificial skin

sensor, which can be used for collision detection or intuitive tactile communication, is

attached to the front and rear part of the shoulder casing (Kerpa et al., 2003).

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