機械人學

波士頓動力製作嘅一部機械人，2021 年；呢部機械人識好似狗噉用四隻腳行路。

機械人學（粵拼：gei1 haai6 jan4 hok6；英文：Robotics）係工程學嘅一門，專門研究機械人（robot）嘅設計、製造同應用：喺工程學上，機械人泛指曉做一啲傳統上由人做嘅工作嘅機械，可以但唔一定係人噉嘅形狀^{[註 1]}；舉個例說明，想像一部設計到識得行路嘅機械（行路係廿世紀嘅傳統機械唔識做嘅一樣嘢），工程師有可能可以靠呢部機械响崎嶇不平嘅地方幫手運送嘢食等嘅物資，噉即係話呢部機械可以（例如）喺地震過後變咗廢墟嘅城鎮嗰度幫手拯救受災嘅人（一種傳統上要靠人嚟做嘅工作）^[1]^[2]。

喺工程學當中，機械人學係一門幾跨學科嘅領域，會涉及機械工程、電腦科學同電子工程嘅知識：首先，機械人通常都會涉及郁動，例如曉行路嘅機械人實要識郁，而郁動就必然會用到力同相關嘅概念（機械工程最重要嘅研究對象之一）^[3]；另一方面，機械人要識得做嘢，通常都係要靠內部有電腦做運算，而且仲成日要用到人工智能（AI）嘅技術，而呢啲嘢表示機械人實要有軟件嘅幫助（電腦科學嘅研究對象）^[4]；除此之外，機械人嘅電腦必需要有方法控制嗰啲郁動嘅機件，而喺廿一世紀初嘅科技上，噉就表示部電腦實要向啲機件傳送電子訊號，所以會涉及電子工程方面嘅技術^[5]。因為噉，機械人學研究好多時都需要多門唔同領域嘅工程師合作一齊搞。

自從廿世紀中開始，機械人就一路引起咗人類嘅唔少憧憬：喺科學上，有唔少研究者都對機械人又驚又充滿期待－期待機械人能夠大幅噉提高生產嘅能力^[6]，進而提升人類嘅福祉，但又驚機械人可能會勁到完全取代人類^[7]；呢樣嘢亦都反映咗喺啲科幻作品嗰度－「對人類友好嘅機械人」同埋「會作反傷害人類嘅機械人」都係廿世紀嘅科幻作品成日用嘅橋段^[8]。到咗廿一世紀初，機械人學經已成為咗一門蓬勃嘅工程領域，吸引咗各方面嘅工作者一齊去研究機械人相關嘅問題。

概論[編輯]

內文：機械人

睇埋：工程學

機械部份[編輯]

睇埋：機械工程同埋電機工程

執行器[編輯]

內文：執行器

執行器（actuator）可以話係機械人最緊要嘅部件之一，定義上係能夠靠接收到嘅訊號同埋由某啲來源嘅能量，嚟到令某啲嘢郁；用物理學嘅行話講，即係話執行器曉按收到嘅訊號，將能量轉化做機械能。喺廿一世紀初嘅機械人學上，通常做法係部電腦會向部機械人嘅各部份傳訊號（睇下面控制系統），呢啲訊號會話俾啲執行器知「要點郁」，而啲執行器跟住就會令到部機械人啲部件（例如係機械手臂）分別噉做出想要嘅郁動，順利嘅話就令部機械人好似設計者想要嘅噉郁^[9]^[10]。

呢個過程當中實要用能量－物理學上已知，要令一件物體由靜止變郁（加速度 $>0$ ），件物體實係受咗力得到動能（可以睇吓古典力學），而已知能量唔會無端端少咗或者多咗，物體得到嘅動能實要嚟自某啲地方，而喺廿一世紀初嘅應用上，機械人可以有好多能源，例子有電池呀噉^[11]。

一個人喺度控制隻機械手臂郁。

執行器仲可以按「會點樣郁」同埋「能量來源係邊」等嘅特性分做好多類。

電腦部份[編輯]

睇埋：人工智能同埋電腦科學

一個人工智能程式嘅輸出可以用一大柞數值表達物件嘅位置同方向以及係「每個關節要拗彎幾多角度」等嘅資訊，呢啲資訊可以用嚟控制機械手臂，而事實係，機械手臂喺廿一世紀初嘅工廠嗰度好常見^[12]^[13]。

一隻機械手臂

控制系統[編輯]

內文：控制系統

睇埋：電子工程同埋機械電子工程

同人嘅互動[編輯]

研究範疇[編輯]

簡史[編輯]

註釋[編輯]

↑ 人形機械人（android）就係指特登整到好似人噉嘅樣嘅機械人。

睇埋[編輯]

攷[編輯]

↑ Walas, K., & Belter, D. (2013). Messor-verstatile walking robot for serach and rescue missions. Journal of Automation, Mobile Robotics and Intelligent Systems, 28-34.
↑ Tokuda, K., Osuka, K., Yano, S., & Ono, T. (1999, October). Concept and development of general rescue robot CUL. In Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No. 99CH36289) (Vol. 3, pp. 1902-1907). IEEE.
↑ Tsai, L. W. (1999). Robot analysis: the mechanics of serial and parallel manipulators. John Wiley & Sons.
↑ Lozano-Perez, T. (1983). Robot programming. Proceedings of the IEEE, 71(7), 821-841.
↑ Garvie, M., Flascher, I., Philippides, A., Thompson, A., & Husbands, P. (2020). Evolved transistor array robot controllers. Evolutionary computation, 28(4), 677-708.
↑ Wallén, J. (2008). The history of the industrial robot. Linköping University Electronic Press.
↑ Weller, C. (2017). Meet the first-ever robot citizen-a humanoid named Sophia that once said it would 'destroy humans'. Business Insider, 7-10.
↑ Card, Orson Scott (1990). How to Write Science Fiction and Fantasy. Writer's Digest Books. p. 17.
↑ Malone, Evan; Lipson, Hod (2006). "Freeform fabrication of ionomeric polymer‐metal composite actuators". Rapid Prototyping Journal. 12 (5): 244–53.
↑ Ishida, T., & Takanishi, A. (2006, June). A robot actuator development with high backdrivability. In 2006 IEEE Conference on Robotics, Automation and Mechatronics (pp. 1-6). IEEE.
↑ Oh, S., Zelinsky, A., & Taylor, K. (2000, August). Autonomous battery recharging for indoor mobile robots. In Proceedings of the Australian conference on robotics and automation.
↑ Robotics: ACM 1998, I.2.9, Russell & Norvig 2003, pp. 901–942, Poole, Mackworth & Goebel 1998, pp. 443–460.
↑ Moving and configuration space: Russell & Norvig 2003, pp. 916–932.

拎[編輯]

IEEE Robotics and Automation Society.
Investigation of social robots – Robots that mimic human behaviors and gestures.
Wired's guide to the '50 best robots ever', a mix of robots in fiction (Hal, R2D2, K9) to real robots (Roomba, Mobot, Aibo).

[1] 人形機械人（android）就係指特登整到好似人噉嘅樣嘅機械人。

[2] Walas, K., & Belter, D. (2013). Messor-verstatile walking robot for serach and rescue missions. Journal of Automation, Mobile Robotics and Intelligent Systems, 28-34.

[3] Tokuda, K., Osuka, K., Yano, S., & Ono, T. (1999, October). Concept and development of general rescue robot CUL. In Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No. 99CH36289) (Vol. 3, pp. 1902-1907). IEEE.

[4] Tsai, L. W. (1999). Robot analysis: the mechanics of serial and parallel manipulators. John Wiley & Sons.

[5] Lozano-Perez, T. (1983). Robot programming. Proceedings of the IEEE, 71(7), 821-841.

[6] Garvie, M., Flascher, I., Philippides, A., Thompson, A., & Husbands, P. (2020). Evolved transistor array robot controllers. Evolutionary computation, 28(4), 677-708.

[7] Wallén, J. (2008). The history of the industrial robot. Linköping University Electronic Press.

[8] Weller, C. (2017). Meet the first-ever robot citizen-a humanoid named Sophia that once said it would 'destroy humans'. Business Insider, 7-10.

[9] Card, Orson Scott (1990). How to Write Science Fiction and Fantasy. Writer's Digest Books. p. 17.

[10] Malone, Evan; Lipson, Hod (2006). "Freeform fabrication of ionomeric polymer‐metal composite actuators". Rapid Prototyping Journal. 12 (5): 244–53.

[11] Ishida, T., & Takanishi, A. (2006, June). A robot actuator development with high backdrivability. In 2006 IEEE Conference on Robotics, Automation and Mechatronics (pp. 1-6). IEEE.

[12] Oh, S., Zelinsky, A., & Taylor, K. (2000, August). Autonomous battery recharging for indoor mobile robots. In Proceedings of the Australian conference on robotics and automation.

[13] Robotics: ACM 1998, I.2.9, Russell & Norvig 2003, pp. 901–942, Poole, Mackworth & Goebel 1998, pp. 443–460.

[14] Moving and configuration space: Russell & Norvig 2003, pp. 916–932.

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