可变形灾难救援机器人控制站系统的设计与实现

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王楠, 吴成东, 王明辉, 李斌. 可变形灾难救援机器人控制站系统的设计与实现[J]. 机器人, 2011, 33(2): 202-207.. WANG Nan, WU Chengdong, WANG Minghui, LI Bin. Design and Implementation of the Control Station System of a Shape-shifting Search and Rescue Robot. ROBOT, 2011, 33(2): 202-207..

摘要针对灾难救援应用领域具体需求，提出了控制站系统的设计原则.基于人机交互技术，设计了可变形灾难救援机器人控制站系统，该系统具有感知信息完整、操控灵活、界面友好、交互性强等特点.通过灾难救援模拟环境进行实验，验证了该控制站系统可以实现机器人在复杂环境中的运动控制、多通道信息交互等功能，在灾难救援等领域具有可行性及有效性.

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关键词 ：灾难救援, 人机交互, 可变形机器人, 控制站, 环境适应

Abstract：According to the requirements in the fields of search and rescue application,the design criterion of control station system is proposed.Based on human-robot interaction,control station system for the shape-shifting search and rescue robot is designed,which has some features such as complete perceptive information,flexible control,friendly interface and strong interaction.The experiments in the search and rescue simulation environment demonstrate that the control station system for search and rescue robots can control their motion and exchange multi-channel information in the complex environment,which indicates the feasibility and validity of the control station system in the fields of search and rescue.

Key words： search and rescue human-robot interaction(HRI) shape-shifting robot control station system environmental adaptation

收稿日期: 2010-05-06 录用日期: 2010-10-11

TP24

基金资助:国家自然科学基金资助项目（60905058）；国家863计划资助项目（2007AA041502）.

通讯作者: 王楠 E-mail: beidu0219@163.com

作者简介: 王楠（1986- ），女，硕士生.研究领域：移动机器人，机器人控制，模式识别．
吴成东（1960- ），男，博士后，教授，博士生导师.研究领域：机器人控制，模式识别，图像处理．
王明辉（1980- ），男，博士，副研究员.研究领域：可重构机器人，机器人控制，系统集成.

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I2/202

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