2020 IFR先进机器人学与机构学国际学术论坛：参会感

2020 IFR International Forum on Advanced Robotics and Mechanism

• 论坛时间： 2020年12月15日（星期二）09:10-15:40

  Forum Time : 2020.12.15(Tuesday) 09:10-15:40

• 地点：沈阳自动化研究所新区3号楼学术报告厅

  Location: Academic Lecture Hall, Building 3, Shenyang Institute of Automation

1. 会议主旨 （Forum Object）

首届IFR先进机器人学与机构学国际学术论坛由国际机器人联合会（IFR）和先进机器人学与机构学国际联合研究中心（IRCARM）共同主办，主题为“后疫情时代下机器人学与机构学研究发展”。论坛邀请了来自美国、英国、德国、日本和中国的8位知名专家开展主题讲座，面向研究生、博士后和专业技术人员带来机器人学与机构学的最新研究动态和学术成果。

The first meeting of IFR International Academic Forum on Advanced Robotics and Mechanism was co-sponsored by the International Federation of Robotics (IFR) and the International Research Center for Advanced Robotics & Mechanism (IRCARM). The theme of this forum was about “Research and Development of Robotics and Mechanism in the Post-epidemic Era”. The forum invited 8 well-known experts from the United States, the United Kingdom, Germany, Japan and China to give lectures on topics, bring the last research trends and academic results in robotics and mechanism to graduate students, post-doctors and professional technicians.

2. 会议日程 （Forum Schedule）

时间 （Time）	内容 （Content）	主讲人 （Presenter）
09:10-09:15	开幕式——主持人介绍	李硕
09:15-09:25	开幕式——领导致辞	于海斌
09:25-10:00	Industrial Robots in China: Present and Future	王天然
10:00-10:35	Robotics to Characterize, Retrain and Restore Human Movements	S.Agrawal
10:35-10:55	Coffee break
10:55-11:30	Kinematics in Robotics, Entailing Metamorphic and Reconfigurable Mechanisms	戴建生
11:30-12:05	Quo Vadis-Industrial Robotics	A.Verl
12:05-13:00	午餐
13:00-13:35	Development and Application of Pedigree Underwater Robots	李硕
13:35-14:10	In-pipe Robots for Inspection of Pipelines	马书根
14:10-14:25	茶歇
14:25-15:00	Research and Application on AApe Series Electric Power Robots	王洪光
15:00-15:35	Recent Progress of Vacuum Robot Research and Development	徐方
15:35-15:40	闭幕式

3. 主要演讲人（Main Presenters）

• Prof. Tianran Wang

  • Academician of China Engineering Academy

  • Director of National Engineering Research Center for Robotics

• Prof. Jiansheng Dai

  • Authoritative expert of international theoretical kinematics and reconfigurable mechanism
  • ASME & IEEE Fellow
  • Director of Robotics Center, King’s College London

4. 主要内容

Lecture: Industrial Robots in China: Present and Future (中国工业机器人的现在和未来)

这次演讲是由王天然院士带来的，主要围绕着中国的工业机器人发展进行讲解，他主要讲到中国工业机器人的发展起点低，在最近几年才超过了邻国的发展，我们需要审视自己，重新定位自己，美国，日本以及欧洲等机器人强国是我们短期内无法超越的对象，所以要稳扎稳打。他还将到了关于协作机器人的单词“corobot”，这个单词从开始到以后经历了，很长的时间也是重新定义的协作机器人。

机器人是一个吸收其他学科，容纳其他学科非常容易的一门交叉类学科，从信息领域的5G通信技术、材料领域的新型高分子材料、生命科学领域以及其他多种领域都可以将最新成果应用或者结合到机器人领域内。因此，任何一门学科的重大发现、成果都会为机器人领域带来颠覆性的改变，这里尤其提到了材料领域的新型高分子材料。在茶歇时间，我也有幸能够和王天然院士有一个近距离的交流，我向王院士提出了“如果新型高分子材料的研究成功，使工业机器人的机械结构从刚体变成软体，整个理论体系包括运动学和动力学都需要重新建立，那么会不会出现目前机器人四大家族的地位不稳定，导致整个机器人企业的重新洗牌？”

王天然院士大概是这么和我解释的，首先，他和我讲了目前国内的机器人市场并没有被国外的企业进行垄断，有很多国内的企业正在大力发展工业机器人，但是为什么市场占额没有四大家族高呢。原因是，国内的工业机器人起点较低，发展时间没有国外那么久，仅仅是这一点就导致在价格和精度上都处在了一个劣势的位置，国外的机器人是又便宜又优质。他提到他非常愿意上届美国总统在美国机器人向中国出口的限制，因为这样国内的机器人企业会在一个压迫下完成快速的研发以及占领市场，导致国外的机器人无法重新进入中国市场。

接着，他回答了我的第二个问题，那就是新型高分子材料的成功研发对于整个工业机器人的影响，首先不可否定的是，整个理论体系都需要重新建立，包括机器人的建模、运动学、动力学等等。这样就会在此领域内进行一次归零，所有基于刚体建立的理论体系都将崩塌。这样，对于每个国家都是平等的，对于每个企业也是相同的，只有谁先占领基于新型高分子材料的机械臂高地，才能完成后续持续的占领。

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This lecture is given by Prof. Tianran Wang, and it is mainly about the present and future of Industrial robots in China. He mainly talk about the development of Industrial robots in China is lower than other neighboring countries. At these recently years, ours have exceeded theirs and we need to examine and relocate ourself which means strong robot countries of the United States, Japan and Europe can’t be exceeded in the period of time. So we need go the step by step stably. And he mentioned about the word “corobot” which meas the collaborative robot.

The subject of robot that absorb and accommodates other subjects is the cross type of subject. From 5G communication technology in the information field, new polymer materials in the material field, life sciences, and other fields, the latest results can be applied or Integrate into the field of robotics. Hence, the research and result of any other field can make a disruptive change in robotics, especially in new polymer materials in material field. In the coffee break time, I am be honored to have the opportunity of communicating with Prof. Tianran Wang, and I asked him as follow questions, “Will the success of new polymer materials make the industrial robot from rigid body to soft body and all of the theoretical system based on the past including kinetics and dynamics need re-establish? If it is possible, the robot market in China will reshuffle?”

He answer me as this. Firstly, he mentioned that the robot market in China hasn’t been monopolized by any other enterprises and there are many enterprises is under developing the industrial robot in domestic. The reason that the most share of market occupied by foreign companies is the lower development starting point in domestic industrial robots. And that makes the difference between domestic and the foreign companies in the price and performance. Then, he talked the last president in US who asserted to reduce exports of robots to China, and he is very willing to this situation. Because it is a opportunity for domestic robot company to develop their technology and occupy the most share of robot market in China which will make the foreign companies can’t enter the Chinese market any more.

Continuously, he answered me the next question about the influence of new polymer materials successfulness. The first thing that can’t be denied is the whole of theoretical system need re-establish including the modeling, kinetic and dynamic etc. And In this way, a zero reset will be performed in this field, and all theoretical systems based on rigid bodies will collapse. In this way, it is equal for every country and the same for every enterprise. Only who first occupies the robotic arm heights based on new polymer materials can complete the subsequent continuous occupation.

Lecture: Kinematics in Robotics, Entailing Metamorphic and Reconfigurable Mechanisms (机器人运动学，涉及变胞和可重构机制)

这次演讲是由戴建生教授带来的，其中围绕了两个最主要的单词：可重构（Rehabilication）和变胞（Metamorphic）。机械结构是确定了机器人的一个运动轨迹和结构上的变化，控制系统确定了该运动的快慢，那么对于机械结构的变化是非常有趣的，也是他在本次演讲中提出来后让我眼前一亮。

在1998年的ASME机构学与机器人学国际会议上，戴建生教授开创性地提出了"变胞机构"成为国际机器人学前沿热点。戴建生教授由此成为变胞机构开创者，变胞机器人创始人。在戴建生教授的指导下，大然科技还推出"世界首款变胞机器人，在戴建生教授的博士创业者们在一流大学任教意外，有很多创办了机器人高新科技公司。

令人意外的是，戴建生教授一开始提出了可重构的机械这一概念后，紧接着对于旋量理论的研究进行了讲解，这也是令我今天最惊喜的一点。因为在大三的学习期间，机器人基础实验中涵盖了对于另一种机器人建模方法的研究，其中之一就是基于现代数学理论——旋量的建模方法。也非常有幸阅读了戴建生教授撰写并出版在高等教育出版社的一本现代理论数学的书籍。此刻的心情是忐忑的，是激动的，在一番平静后他的演讲结束了。到了提问环节，我也踊跃的举起了手发表提问。很荣幸，我又有一次和高水平学者交流的机会，我的原话：

“尊敬的戴建生教授，您好。我非常荣幸能够聆听您所带来的这次演讲，我是一名本科生。我在学习机器人结构学的过程中，首先学习了应用最广的DH参数法，在后续的学习过程中，有幸了解到了您刚所提到的旋量方法，也阅读了您所撰写的书籍，请问这两者方法在理论和应用上有什么优缺点？”

令我更加惊喜的是，我这一问题得到了戴建生教授的充分肯定，频频点头说这是个好问题。

他首先解释道DH参数方法的由来以及旋量方法，最后总结在了两者在末端的不同，也就是DH参数法的连乘之后的坐标系便是末端坐标系，而旋量方法则是需要一定的变换从collaborate ordinate转换至所需要的坐标系，这也解答了我在学习过程中最疑惑的问题，也指出了两者最大的不同。

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This lecture is given by prof. Jiansheng Dai and it mainly around the two words: Rehabilication and Metamorphic. The mechanical structure determines the motion track and variation of structure on robot and control system determines the speed of movement. So the change of mechanical structure is very interesting, and after he proposed it in this speech, it made me shine.

At 1998 ASME International Conference on Mechanism and Robotics, Prof. Dai pioneered the idea of Metamorphic and Reconfiguration mechanism as a frontier hot spot in international robotics. As a result, Prof. Dai became the founder of the Metamorphic organization and the founder of Metamorphic robots. Under the guidance of Prof. Dai Daran technology company also launched the world’s first Metamorphic robot. Unexpectedly, the Ph. D entrepreneurs under Prof. Dai taught in first-class universities, and many founded robotic high-tech companies.

Prof. Dai have proposed the concept of Reconfiguration which makes me surprised. And followed by the explanation of screw method is also surprised because I have learned about this in my junior year. Robot basic experiments cover the research of another robot modeling method, one of which is the modeling method based on modern mathematical theory - Screw Method. And it’s honor for me to have read the book published Higher Education Press written by him. The mood at the moment was nervous and excited, and his speech ended after some calm. When it came to the question session, I also raised my hand enthusiastically to ask questions. I am honored to have another opportunity to communicate with high-level scholars. My original words:

“Dear Professor Dai Jiansheng, hello. I am very honored to be able to listen to this speech you brought. I am an undergraduate student. In the process of learning robot structure, I first learned the most widely used DH parameters In the follow-up learning process, I was fortunate to learn about the spin method you just mentioned and read the book you wrote. What are the advantages and disadvantages of these two methods in theory and application?”

What made me even more pleasantly surprised was that my question was fully affirmed by Prof. Dai, who nodded frequently and said that this is a excellent question.

He first explained the origin of the DH parameter method and the Screw method, and finally summarized the difference between the two at the end, that is, the collaborative coordinate after the continuous multiplication of the DH parameter method is the end coordinate system, while the spin method requires A certain transformation is converted from collaborate ordinate to the required coordinate system, which also answers my most puzzled question in the learning process, and also points out the biggest difference between the two.

5. 唯一的照片

• 拍摄时间：Prof. Dai的演讲
• 拍摄原因：他是《旋量代数与李群李代数》这本书的作者
• 拍摄心情：激动、追星、我要和他！！！！！有思想上的！！！！！碰撞！！！！！

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