【标题】Black in Robotics: Improving community and equity in the field of robotics
【参考中译】机器人中的黑人：改善机器人领域的社区和公平
【类型】 期刊
【作者】 Monroe Kennedy; Ayanna Howard
【摘要】 Black in Robotics, a nonprofit organization, has had recent success, but it is the ongoing community participation that will sustain its efforts. In 2020, Science Robotics published a piece titled "Robots are not immune to bias and injustice," which laid out the motivation behind the launch of a new organization, Black in Robotics (BiR) (1). A few months later in 2021, BiR was formed as a nonprofit organization with the mission of addressing and improving systemic inequities in the robotics community (2). The goal of BiR is to improve inclusive excellence in robotics through the three pillars of building community, advocating for inclusion and inclusive excellence, and encouraging accountability with industrial and institutional partners. This article highlights the impact that BiR has made through these initiatives in growing a community that is inclusive of a diverse pool of robotics talent (Fig. 1A). The ideals of BiR have also helped bring thoughtful consideration to the inclusive development of robotic systems centered on the diverse representation of talent within the teams (3, 4).
【参考中译】 非营利组织Black in Robotics最近取得了成功，但持续的社区参与将维持其努力。2020年，Science Robotics发表了一篇题为《机器人也不能免受偏见和不公正》的文章，阐述了成立新组织Black in Robotics（BiR）（1）的动机。几个月后的2021年，BiR成立为一个非营利组织，其使命是解决和改善机器人社区中的系统性不平等（2）。BiR的目标是通过建设社区、倡导包容性和包容性卓越以及鼓励与工业和机构合作伙伴的问责制这三大支柱来提高机器人领域的包容性卓越性。本文重点介绍了BiR通过这些举措在发展包含多元化机器人人才的社区方面所产生的影响（图1A）。BiR的理想还帮助为以团队内人才的多元化代表为中心的机器人系统的包容性开发带来了深思熟虑的考虑（3、4）。
【来源】 Science Robotics 2024, vol.9, no.97
【入库时间】 2025/4/2
【标题】An optimal and efficient hierarchical motion planner for industrial robots with complex constraints
【参考中译】针对具有复杂约束的工业机器人的优化高效分层运动规划器
【关键词】 Industrial robots; Motion planning; Reinforcement learning; Hierarchical framework; Optimal trajectory
【参考中译】 工业机器人;运动规划;强化学习;分层框架;最佳轨迹
【作者】 Longfei Zhang; Zeyang Yin; Xiaofang Chen; Yongfang Xie
【摘要】 This paper investigates the motion planning problem for industrial robots with complex constraints. An optimal and efficient hierarchical motion planner is proposed to obtain high-quality trajectories with low computational effort. First, the motion planning problem is formulated as an optimal control problem incorporating robot kinematics, obstacle-avoidance, and dynamics constraints. Thereafter, a hierarchical framework is constructed within the Markov decision process, consisting of two planners. In the high-level planner, a reinforcement learning-based policy is employed to generate virtual targets for the robot to navigate around obstacles, which can avoid collision detection. Then, in the low-level planner, a global orthogonal collocation method is used to generate time-energy optimal trajectories, considering dynamics, path, and boundary constraints such as joint position, velocity, and torque. Finally, simulation results on a 6-DOF (degree of freedom) and a 7-DOF industrial robot validate that the proposed method can produce high-quality trajectories with improved success rates and computation times compared to existing works.
【参考中译】 研究具有复杂约束的工业机器人的运动规划问题。提出了一种优化、高效的分层运动规划器，以低计算量获得高质量的轨迹。首先，将运动规划问题表述为一个结合机器人运动学、障碍物回避和动力学约束的最优控制问题。此后，在马尔科夫决策过程中构建了一个由两个规划者组成的分层框架。在高层规划器中，采用基于强化学习的策略生成虚拟目标，供机器人绕过障碍物导航，从而避免碰撞检测。然后，在低级规划器中，使用全局垂直配置方法来生成时间-能量最优轨迹，同时考虑动力学、路径和边界约束（例如关节位置、速度和扭矩）。最后，对6-DOF（自由度）和7-DOF工业机器人的仿真结果验证了所提出的方法可以生成高质量的轨迹，与现有作品相比，成功率和计算时间有所提高。
【来源】 Computers and Electrical Engineering 2024, vol.119, no.Pt.B
【标题】ROBOTER: Yaskawa zeigt "Robotics Technology for Smart Automation"
【作者】 anonymous
【摘要】 Das aktuelle Cobot-Ecosystem, Motoman- Roboter fur Handling, Schweissen, Palettieren und viele weitere Applikationen sowie Roboter "made in Europe" - das sind die Schwerpunkte am Messestand von Yaskawa. Unter dem Messe-Motto "Robotics Technology for Smart Automation" folgt Yaskawa zur Automatica 2023 den Trends der Branche. So zeigt das Unternehmen auf der Messe, wie einfach die Einrichtung und Bedienung von Robotern heute sein konnen.
【来源】 Elektrotechnik Automatisierung 2023, vol.105, no.3