Humanoid Robots - New Developments_部分12+18_部分2

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雅思阅读机经真题解析：人类与机器人Man or MachineADuring July 2003, the Museum of Science in Cambridge, Massachusetts exhibited what Honda calls 'the world's most advanced humanoid robot', AS1MO (the Advanced Step in Innovative Mobility). Honda's brainchild is on tour in North America and delighting audiences wherever it goes. After 17 years in the making, ASIMO stands at four feet tall, weighs around 115 pounds and looks like a child in an astronaut's suit. Though it is difficult to see ASIMO's face at a distance, on closer inspection it has a smile and two large eyes' that conceal cameras. The robot cannot work autonomously - its actions are 'remote controlled' by scientists through the computer in its backpack. Yet watching ASMIO perform at a show in Massachusetts it seemed uncannily human. The audience cheered as ASIMO walked forwards and backwards, side to side and up and downstairs. After the show, a number of people told me that they would like robots to play more of a role in daily life - one even said that the robot would be like 'another person'.BWhile the Japanese have made huge strides in solving some of the engineering problems of human kinetics (n.动力学) and bipedal (adj. 两足动物的)movements, for the past 10 years scientists at MIT's former Artificial Intelligence (Al) lab (recently renamed the Computer Science and Artificial Intelligence Laboratory, CSAIL) have been making robots that can behave likehumans and interact with humans. One of MITs robots, Kismet, is an anthropomorphic (adj.拟人的) head and has two eyes (complete with eyelids), ears, a mouth, and eyebrows. It has several facial expressions, including happy, sad, frightened and disgusted. Human interlocutors are able to read some of the robot's facial expressions, and often change their behavior towards the machine as a result - for example, playing with it when it appears ‘sad’. Kismet is now in MIT’s museum, but the ideas developed here continue to be explored in new robots.CCog (short for Cognition) is another pioneering project from MIT’s former AI lab. Cog has a head, eyes, two arms, ha nds and a torso (n.躯干) - and its proportions were originally measured from the body of a researcher in the lab. The work on Cog has been used to test theories of embodiment and developmental robotics, particularly getting a robot to develop intelligence by responding to its environment via sensors, and to learn through these types of interactions.DMIT is getting furthest down the road to creating human-like and interactive robots. Some scientists argue that ASIMO is a great engineering feat but not an intelligent machine - because it is unable to interact autonomously with unpredictabilities in its environment in meaningful ways, and learn from experience. Robots like Cog and Kismet and new robots at MIT’s CSAIL and media lab, however, are beginning to do this.EThese are exciting developments. Creating a machine that can walk, make gestures and learn from its environment is an amazing achievement. And watch this space: these achievements are likely rapidly to be improved upon. Humanoid robots could have a plethora of uses in society, helping to free people from everyday tasks. In japan, for example, there is an aim to createrobots that can do the tasks similar to an average human, and also act in more sophisticated situations as firefighters, astronauts or medical assistants to the elderly in the workplace and in homes – partly in order to counterbalance the effects of an ageing population.FSuch robots say much about the way in which we view humanity, and they bring out the best and worst of us. On one hand, these developments express human creativity - our ability to invent, experiment, and to extend our control over the world. On the other hand, the aim to create a robot like a human being is spurred on by dehumanized ideas - by the sense that human companionship can be substituted by machines; that humans lose their humanity when they interact with technology; or that we are little more than surface and ritual behaviors, that can be simulated with metal and electrical circuits.Questions 1-6Reading passage 1 has six paragraphs, A-F.Which paragraph contains the following information?Write the correct letter, A-F, in boxes 1-6 on your answer sheet.NB you may use any letter more than once1 different ways of using robots2 a robot whose body has the same proportion as that of an adult3 the fact that human can be copied and replaced by robots4 a comparison between ASIMO from Honda and other robots5 the pros and cons of creating robots6 a robot that has eyebrowsQuestions 7-13Complete the following summary of the paragraphs of Reading Passage 1, using NO MORE THAN TWO WORDS from the Reading Passage for each answer.Write your answers in boxes 7-13 on your answer sheet.In 2003, Massachusetts displayed a robot named ASIMO which was invented by Honda, after a period of 7 in the making. The operating information is stored in the computer in its 8 so that scientists can control ASIMO's movement. While Japan is making great progress, MIT is developing robots that are human-like and can 9 humans. What is special about Kismet is that it has different 10 which can be read by human interlocutors. 11 is another robot from MIT, whose body's proportion is the same as an adult. By responding to the surroundings through 12 ,it could develop its 13 .文章题目：Man or Machine篇章结构体裁议论文题目是人还是机器结构A. ASMID研制成功并向公众展示的社会影响B. CSAIL一直致力于研制拟人机器人C. Cog是有着和人来一样的比例的机器人D. 在创造类人互动机器人方面, MIT走在前端E. 类人机器人的发展空间F. 创造类人机器人的利与弊试题分析Question 1-13题目类型：Information in relevant paragraph定位词文中对应点题目解析1Different ways E段第4句E段开头就引出创造机器人的成就, 随后并提出这些成就有一定的发展空间, 直到第四句说明这些类人机器人have a plethora of uses,用途多样. 因此答案为E2The same proportion...adultC段第2句C段第2句提到cog has a head...and its proportions were originally measured from the body of a researcher in the lab. 表明该机器人是按照成年人人体比例创造的, 因此答案为C3Copied replacedF段第3句F段第三句the aim to create...by the sense human...can be substituted..., that can be simulated 都表示人类可被机器等取代.因此答案为F4ComparisonASIMO... Pther robotsD段第2,3句D段第2句指出ASIMO is...but not an intelligent machine,because it is unable to...learn from experience.第3句又表明robots like...however, are beginning to do this. 体现出其他机器人能做到ASIMO所不能做到的自发学习. 因此答案为D5Pros and consF段第1句F段开头指出这些机器人证明了我们看待人性的方式, bring out the best and worst of us.这半句话体现出创造机器人的利与弊. 因此答案为F6eyebrowsB段倒数第4句B段倒数第四句提到one of MIT’S robots is...and has two eyes...and eyebrows. 因此答案B Question7-13 Summary from Reading Passagesummary参考解题思路: 先跳开空格把该段通读一遍, 了解大意, 发现总体是按照文章段落顺序概括的. (如有所遗忘, 再看原文各段段首句, 大概知道各句在文章的相应段落)解析: 第1句和第2句对应文章A段, 根据after a period of 7___in the making定位该段第3句, 答案为17 years. 然后根据文章倒数第四句its action are...controlled by scientists through...in its backpack.可以判断8答案为backpack. 该题第3, 4句对应文章B段, MIT is inventing robots...with the ability to 8___humans定位该段第2句behave like humans and interact with humans.可以判断9答案为interact with. 根据Kismet ...has various...by human interlocutors 定位原文倒数第2句human interlocutors are able to read some of the robots’ facial expressions得出10答案为facial expressions. 第5,6句对应原文C段, robot from MIT，proportion定位该段第1, 2句得出11答案为Cog/cognition. 最后根据该段最后一句getting a robot to develop intelligence via sensors判断12答案为sensors, 13 答案为intelligence.参考翻译：是人还是机器A在2003年7月，曼彻斯特的剑桥博物馆陈列了Honda称之为“世界最先进的人性机器人”：ASIMO (即“创新移动的进步之举)。

机器人的现状与发展趋势英语作文The Current Situation and Development Trends of Robots。

In recent years, robots have become an increasingly prominent presence in our lives. From industrial automation to personal assistants, robots are transforming the way we live and work. In this article, we will explore the current situation of robots and discuss the future development trends in this field.1. The Current Situation of Robots。

Robots have made significant advancements in various industries. In manufacturing, robots have revolutionized production processes by increasing efficiency and precision. They can perform repetitive tasks with high accuracy, reducing the need for human labor and minimizing errors. This has led to increased productivity and cost savings for companies.Furthermore, robots have also made their way into the service industry. From hotels to hospitals, robots are being used to assist with tasks such as cleaning, delivery, and even customer service. For example, in some hotels, robots are employed as concierge staff, providing guests with information and assistance. This not only enhances the customer experience but also reduces the workload of human employees.In addition to industrial and service robots, there has been significant progress in the development of humanoid robots. These robots are designed to resemble humans in appearance and behavior, with the aim of performing tasks that require human-like dexterity and interaction. They have the potential to assist in areas such as healthcare, elderly care, and education.2. Development Trends of Robots。

In the heart of the bustling city, amidst the towering skyscrapers and the constant hum of traffic, a new era of companionship is unfolding. The integration of artificial intelligence into our daily lives has taken a significant leap forward with the advent of humanoid robots. These machines, designed to mimic human behavior and emotions, are no longer just the stuff of science fiction but are becoming an integral part of our society.The concept of a robot is not new we have been fascinated by the idea of creating mechanical beings since the time of ancient Greece. However, the modern humanoid robot is a far cry from the simple automata of the past. With advanced algorithms and sophisticated programming, these robots can perform tasks that were once thought to be the exclusive domain of humans.One of the primary benefits of humanoid robots is their ability to assist in tasks that are repetitive, dangerous, or require precision. In industries such as manufacturing, construction, and healthcare, robots can perform tasks that would be hazardous for humans, reducing the risk of injury and increasing efficiency. For example, a robot can work in a radioactive environment without the need for protective gear, or it can perform delicate surgeries with a level of precision that is beyond human capability. Moreover, humanoid robots are also being developed to provide companionship and support for the elderly and those with disabilities. These robots can assist with daily tasks, provide emotional support, and even engage in conversation, offering a sense of companionship that can be invaluable to those who may be isolated or lonely.However, the integration of robots into our society also raises a host of ethical and societal questions. As these machines become more advanced and more humanlike, the line between man and machine begins to blur. Questions about the rights and responsibilities of robots, as well as the potential for job displacement and the dehumanization of certain tasks, are becoming increasingly relevant.Furthermore, the development of humanoid robots also presents challenges in terms of privacy and security. As these robots become more integrated into our daily lives, they will have access to a wealth of personal information, raising concerns about data protection and the potential for misuse.In conclusion, the rise of humanoid robots represents a significant shift in our relationship with technology. While the potential benefits are vast, it is crucial that we approach this new era with caution and consideration, ensuring that the development of these machines is guided by ethical principles and a commitment to the wellbeing of all members of society. As we navigate this brave new world, it is essential that we strike a balancebetween embracing the possibilities of artificial intelligence and preserving the unique qualities that make us human.。

232 Humanoid Robots, New Developmentswhere )0(0O O and )1(1O O . In this equation, we assume that the initial state 0z is a function of certain variables which consist of partial set of the state, namely, a part of the initial state is independent and the other depends on it. Let the independent initial statevar iables be ))0(),0(),0(),0(),0(),0((0D M T M T f f f s s p z c . The r est of the initial state ar e decided by»»»¼º«««¬ª »¼º«¬ª »¼º«¬ª 000~~~~0000000,000000111f f ff T f f f T f f s ss s f s f s f p J J H J J H I I K S h p K M T M T M T M M T T (22)(23)(24)(25)The first three equations are coordinate conversion at the instant of landing and the last isthe condition of per fectly inelastic collision at the instant of landing. Let the impulsiveexternal force at the foot of support leg be f G . The impact force f G is inflicted at the instant of the landing and the gene alized velocity changes discontinuously. F om (1), the generalized momentum after the collision is given byf J x H xH T G ~(26)where x and x denote the gener alized velocities after and befor e collision, r espectively. ],,[~I R J Jis an extended Jacobian. Since it is suppor t phase after the collision, the condition (3) holds, namely,0~xJ (27) Describing (26) and (27) for x and f G , the following equation is obtained.»¼º«¬ª »¼º«¬ª»¼º«¬ª 00~~x H f xJJ H T G (28) Eliminating f G from (28), we havexJ J H J J H I xT T ~~~~111 (29) Here, x corresponds to )0(s xwhich is the gener alized velocity of the suppor t phase at 0 W , and x corresponds to )0(f x which is the generalized velocity of the flight phase at0 W . Taking into account the coor dinate conver sion between left and r ight leg, (29) istransformed into the form of (25).From (21), the following conditions are obtained.f d dz z f z f d d zg Tw w w w w wWO W O O 011(30)(31)(32)Minimum Energy Trajectory Planning for Biped Robots 233Also the gradients are given byO O vf v f v E z z z ETTw w w w w w c w wc w w 00000~~(33)(34)To find the optimal solution, the conjugate gr adient method in infinite dimensionalspace (Hilbert space) is applied to this problem. The procedures of the algorithm are as follows.1)The initial solution ))(,(0W v z c is given.2)The initial state 0z is computed by (22)-(25).3)The differential equation (32) is solved using 0z as the initial condition.4)1O is computed by (30) using the final value 1z .5)The differential equation (31) is backwardly solved using 1z .6)The gradients for 0z c and )(W v are computed by (33)(34) using )(W z ,)(W O , and)(W v .7)The temporary solution ))(,(0W v z c is updated toward the direction of the conjugate gradient.8)If the gradient is not small enough, return to 2.Finally, the input joint torques )(t n , the joint angles )(t T , the posture and position (of thebase link) )(t M ,)(t p , their der ivatives )(t T ,)(t M , and the suppor t phase r atio D areobtained. A general method to compute the partial derivatives in (30)-(34) is proposed in the next section.4. Computational Scheme for Partial DerivativeIt is difficult to calculate the partial derivatives in (30)-(34) symbolically, because basically it costs very much to obtain a symbolic expression of the equation of motion (1). In this section, a computational scheme for the par tial der ivatives based on numer ical r epr esentation of motion equation is pr oposed. Finally we can compute them easily by using for war d-backward recursive Newton-Eular formulation.Each partial derivative appeared in (30)-(34) is represented as follows.»»»»»»»»¼º««««««««¬ªw w w w w w w w u w w 001100100000000f Tf fT ff f s T s s T s s s T f x f x f x If x f x f x I Tz fD D D DD D (35)where234 Humanoid Robots, New Developmentsf f f f f f s s s s sg x C u H f g xC u H f 11s (36)(37)And then,f fi ff fi fffi f f fi fs si s s si s s si s s si s f x H H x g x x C H x f f x H H x g x x C H x f w w ¸¸¹·¨¨©§w w w w w w w w ¸¸¹·¨¨©§w w w w w w 1111 (38)(39)»»»»»»¼º««««««¬ª w w 00100000011f f s s T P TH PTH v fD D (40)where N N T s I P u )3(]0,[,N N T f I P u )6(]0,0,[ are selection matrices. And also,»»¼º««¬ª w w »»»»»»»»»»»»»»»¼º«««««««««««««««¬ªw w f sfT f s T s f s T T vf n n T Tn Tn zf T D T D T T D D 100100000000(41)(42)»»»»»»¼º««««««¬ª/* c w w 1000000~00000I K I z z T (43)Minimum Energy Trajectory Planning for Biped Robots 235»»»»»»»»»»»»»»»»»»¼º««««««««««««««««««¬ª »¼º«¬ª w w »¼º«¬ª w w u w w 02111111111111111111111111111111111f s s f s f s f s f s f s f s s Ts f T s f s s T s f s f s s i s T s s f s Ts f s f si s i s T s T s f s T s f s pJ p h p R R pJ J p R R p h R p J J p h J W z g T M M T T M M T T M M M T T T M M MM M T T T T T (44)where the subscript 1 corresponds to the value at 1 W , and»¼º«¬ªw /w *»¼º«¬ª /»»»¼º«««¬ª f si l fTff f T f f l s s x x I K K J J H J J H I K R J I KK 0000~~~~~~00~111(45)(46)(47)(48)r f fi T f f f T f f fi f f f T f f fi f T f f fiTf Tf f f fi Tf f f T f f fi f f l si K J x J H J J H x H H J J H x J J H x J J H J x J H J J H x H H K x ~~~~~~~~~~~~~~~~111111111:¸¸¹·¨¨©§w w w w w w : w w : :w w :w w w /w (49)»»»¼º«««¬ª : 0000~~~11I K K JH J r Tf f (50)(51)236 Humanoid Robots, New DevelopmentsThe par tial der ivatives appear ed in (38), (39), (44), (48), and (49) ar e computed by usingmodified Newton-Euler formulations.5. Numerical Study of Five-link Planar BipedThe proposed method is applied to a five-link planar biped robot. The specification of therobot and the control parameters are shown in Table 1. The robot is 1.2 [m] height and 60[kg] weight. The coordinates are taken as shown in Fig. 1.The optimal tr ajector ies ar e computed as shown in Fig. 3-Fig. 6. Snapshots of therunning motion are also shown in Fig. 7. The solid lines and the dashed lines show thetr ajector ies for the r ight leg and the left leg, r espectively. In Fig. 4, ther e ar e somediscontinuous velocities due to the impact force at the instant of the landing. In Fig. 5,the peak tor que for the hip joints appear s at the beginnings of the swinging. For theknee joints, the tor que becomes maximal at the instant of the landing and keeps over100N.m. In Fig. 6, the positive peak power for the hip and knee joints appear s dur ingkicking motion. For the hip joints, the power becomes negative peak value at thebeginning of the flight phase. This means that the hip joints absor b the ener gy of thekicking motion. The negative peak power for the knee joints appear s at the instant ofthe landing. Namely, knee joints absor b the impact power between the foot and theground.body length and weight 0.6m, 20kgthigh length and weight 0.3m, 10kgshin length and weight 0.3m, 10kgtotal height & weight 1.2m, 60kgstride S 0.5mperiod of one step T 0.5srunning speed T/S 1m/sTable 1. Specifications of robot and control parameters.knee hippeak angular velocity [rad/s] 14.5 11.6peak torque [N.m] 48.2 117.6peak power (positive) [W] 355 1265peak power (negative) [W] -699 -849consumption power [W] 27.9 -5.37total consumption power [W] 45.1Table 2. Actuator requirement.Table 2 shows requirements for the actuators based on this result. It is found that very bigpower is required for knee joints. However, its total consumption power has small negativevalue. Therefore, the main work is done by the hip joints. Since the negative power is alsoMinimum Energy Trajectory Planning for Biped Robots 237big, for real robots, the introduction of the energy regeneration mechanism such as elastic actuators or combination of high back-drivable actuators and bidirectional power converters is effective to reduce the total consumption power.(a) hip joint (b) knee joint.Fig. 3. Joint angles (solid line: right leg, dashed line: left leg).(a) hip joint (b) knee joint.Fig. 4. Angular velocities of joints (solid line: right leg, dashed line: left leg).(a) hip joint (b) knee joint.Fig. 5. Joint torques (solid line: right leg, dashed line: left leg).-150-100-500 50 100 150-0.4-0.20.2 0.4 0.60.81T o r q u e s o f k n e e j o i n t s [N .m ]Time [s]-150-100-500 50 100 150-0.4-0.20.2 0.4 0.60.81T o r q u e s o f h i p j o i n t s [N .m ]Time [s]-15-10-50 5 10 15-0.4-0.20.2 0.4 0.60.81A n g l u l a r v e l o c i t i e s o f k n e e j o i n t s [r a d /s ]Time [s]-15-10-50 5 10 15-0.4-0.20.2 0.4 0.60.81A n g l u l a r v e l o c i t i e s o f h i p j o i n t s [r a d /s ]Time [s]-2-1.5-1-0.5 00.5 11.5 2-0.4-0.20.2 0.4 0.60.81A n g l e s o f k n e e j o i n t s [r a d ]Time [s]-2-1.5-1-0.5 00.5 11.5 2-0.4-0.20.2 0.4 0.60.81A n g l e s o f h i p j o i n t s [r a d ]Time [s]support phase support phase support phasesupport phase support phase support phasesupport phase support phase support phasesupport phasesupport phase support phasesupport phasesupport phasesupport phasesupport phase support phase support phase238Humanoid Robots, New Developments(a) hip joint (b) knee joint.Fig. 6. Joint powers (solid line: right leg, dashed line: left leg).Fig. 7. Snapshots of running trajectory.6. ConclusionIn this chapter , the method to gener ate a tr ajector y of a r unning motion with minimum energy consumption is proposed. It is useful to know the lower bound of the consumption ener gy when we design the bipedal r obot and select actuator s. The exact and gener al for mulation of optimal contr ol for biped r obots based on numer ical r epr esentation of motion equation is proposed to solve exactly the minimum energy consumption trajectories. Thr ough the numer ical study of a five link planar biped r obot, it is found that big peak power and torque is required for the knee joints but its consumption power is small and the main work is done by the hip joints.8. ReferencesFujimoto, Y. & Kawamu ra, A. (1995). 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Foot-Rotation Indicator (FRI) Point: A New Gait Planning Tool toEvaluate Postu r al Stability of Biped Robot, Proceedings of IEEE In t erna t ional Conference on Robotics and Automation , pp. 47-52, 0-7803-5180-0, Detr oit, May 1999, IEEE, New YorkHirai, K.; Hirose, M.; Haikawa, Y. & Takenaka, T. (1998). TheDevelopment of Honda Humanoid Robot, Proceedings of IEEE International Conference on Robotics and Automation , pp. 1321-1326, 0-7803-4300-X, Leuven, May 1998, IEEE, New YorkHodgins, J. K. (1996). Three-Dimensional Human Running, Proceedings of IEEE InternationalConference on Robot ics and Aut omat ion , pp. 3271-3277, 0-7803-2988-0, Minneapolis, April 1996, IEEE, New York Kajita, S.; Nagasaki, T.; Yokoi, K.; Kaneko, K. & Tanie, K. (2002). Running Patte nGener ation for a Humanoid Robot, Proceedings of IEEE Int ernat ional Conference on Robotics and Automation , pp. 2755-2761, 0-7803-7272-7, Washington DC, May 2002, IEEE, New YorkKajita, S.; Kanehir o, F.; Kaneko, K.; Fujiwar a, K.; Har ada, K.; Yokoi, K. & Hir ukawa, H.(2003). Biped Walking Patter n Gener ation by using Pr eview Contr ol of Zer o-Moment Point,Proceedings of IEEE In t erna t ional Conference on Robo t ics and Automation , pp. 1620–1626, 0-7803-7736-2, Taipei, May 2003, IEEE, New YorkKaneko, K.; Kanehir o, F.; Kajita, S.; Hir ukaka, H.; Kawasaki, T.; Hir ata, M.; Akachi, K. &Isozumi, T. (2004). Humanoid Robot HRP-2, Proceedings of IEEE In erna ional Conference on Robotics and Automation , pp. 1083-1090, 0-7803-8232-3, New Or leans, April 2004, IEEE, New YorkLoffler , K.; Gienger , M. & Pfeiffer , F. (2003). Sensor and Contr ol Design of a DynamicallyStable Biped Robot, Proceedings of IEEE Int ernat ional Conference on Robot ics and Automation , pp. 484-490, 0-7803-7736-2, Taipei, May 2003, IEEE, New YorkNagasaki, T.; Kajita, S.; Kaneko, K.; Yokoi, K. & Tanie, K. (2004). A Running Experiment ofHumanoid Biped, Proceedings of IEEE/RSJ Int ernat ional Conference on Int elligent Robots and Systems , pp. 136-141, 0-7803-8463-6, Sendai, September 2004, IEEE, New YorkNishiwaki, K.; Kagami, S.; Kuffner J. J.; Inaba, M. & Inoue, H. (2003). Online HumanoidWalking Contr ol System and a Moving Goal Tr acking Exper iment, Proceedings of IEEE International Conference on Robotics and Automation , pp. 911-916, 0-7803-7736-2, Taipei, May 2003, IEEE, New YorkRaibert, M., H. (1986). Legged Robots That Balance , MIT Press, 0-262-18117-7, CambridgeRoussel, L.; Canudas-de-Wit, C. & Goswami, A. (1998). Gener ation of Ener gy OptimalComplete Gait Cycles for Biped Robots, Proceedings of IEEE International Conference on Robotics and Automation , pp. 2036–2041, 0-7803-4300-X, Leuven, May 1998, IEEE, New YorkSugahara, Y.; Endo, T.; Lim, H. & Takanishi, A. (2003). Control and Experiments of a Multi-pu r pose Bipedal Locomoto r with Pa rallel Mechanism, Proceedings of IEEE240 Humanoid Robots, New Developments Int ernat ional Conference on Robot ics and Aut omat ion, pp. 4342-4347, 0-7803-7736-2, Taipei, May 2003, IEEE, New YorkVukob atovic, M.; Bo ovac, B. & Su dilovic, D. (2001). Ze o-Moment Point - P ope Inter pr etation and New Applications, Proceedings of Int ernat ional Conference on Humanoids Robots, pp. 237-244, 4-9901025-0-9,Tokyo, November 2001, IEEE, New YorkYamaguchi, J.; Soga, E.; Inoue, S. & Takanishi, A. (1999). Development of a Bipedal Humanoid Robot—Contr ol Method of Whole Body Cooper ative Dynamic Biped Walking,Proceedings of IEEE International Conference on Robotics and Automation, pp.368-374, 0-7803-5180-0, Detroit, May 1999, IEEE, New York14 Real-time Vision Based Mouth Tracking and Parameterization for a Humanoid Imitation TaskSabri Gurbuz a,b, Naomi Inoue a,b and Gordon Cheng c,da NICT Cognitive Information Science Laboratories, Kyoto, Japanb ATR Cognitive Information Science Laboratories, Kyoto, Japanc ATR-CNS Humanoid Robotics and Computational Neuroscience, Kyoto, Japand JST-ICORP Computational Brain Project, Kawaguchi, Saitama, Japan.1.IntroductionRobust real-time stereo facial feature tracking is one of the important research topics for a var iety multimodal Human-Computer, and human r obot Inter face applications, including telepresence, face recognition, multimodal voice recognition, and perceptual user interfaces (Moghaddam et al., 1996; Moghaddam et al., 1998; Yehia et al., 1988). Since the motion of a person's facial features and the direction of the gaze is largely related to person's intention and attention, detection of such motions with their 3D r eal measur ement values can be utilized as a natur al way of communication for human r obot inter action. For example, addition of visual speech information to robot's speech recognizer unit clearly meets at least two pr acticable cr iter ia: It mimics human visual per ception of speech r ecognition, and it may contain information that is not always present in the acoustic domain (Gurbuz et al., 2001). Another application example is enhancing the social interaction between humans and humanoid agents with robots learning human-like mouth movements from human trainers during speech (Gurbuz et al., 2004; Gurbuz et al., 2005).The motivation of this research is to develop an algorithm to track the facial features using ster eo vision system in r eal wor ld conditions without using pr ior tr aining data. We also demonstr ate the ster eo tr acking system thr ough a human to humanoid r obot mouth mimicking task. Vider e ster eo vision har dwar e and SVS softwar e system ar e used for implementing the algorithm.This work is organized as follows. In section 2, related earlier works are described. Section 3 discusses face RIO localization. Section 4 pr esents the 2D lip contour tr acking and its extention to 3D. Experimental results and discussions are presented in Section 5. Conclusion is given in Section 6. Finally, future extention is described in Section 7.2. Related WorkMost pr evious appr oaches to facial featur e tr acking utilize skin tone based segmentation fr om single camer a exclusively (Yang & Waibel, 1996; Wu et al., 1999; Hsu et al., 2002; Ter r illon & Akamatsu, 1999; Chai & Ngan, 1999). However, color infor mation is ver y sensitive to lighting conditions, and it is ver y difficult to adapt the skin tone model to a dynamically changing environment in real-time.242 Humanoid Robots, New Developments Kawato and Tetsutani (2004) proposed a mono camera based eye tracking technique based on six-segmented filter (SSR) which oper ates on integr al images (Viola & Jones, 2001). Support vector machine (SVM) classification is employed to verify pattern between the eyes passed fr om the SSR filter. This appr oach is ver y attr active and fast. However, it doesn't benefit from stereo depth information. Also SVM verification fails when the eyebrows are covered by the hair or when the lighting conditions are significantly different than the SVM training conditions.Newman et al., (2000) and Matsumoto et al., (19990) pr oposed to use 3D model fitting technique based on virtual spring for 3D facial feature tracking. In the 3D feature tracking stage each facial feature is assumed to have a small motion between the current frame and the pr evious one, and the 2D position in the pr evious fr ame is utilized to deter mine the search area in the current frame. The feature images stored in the 3D facial model are used as templates, and the right image is used as a search area firstly. Then this matched image in 2D feature tracking is used as a template in left image. Thus, as a result, 3D coordinates of each facial feature are calculated. This approach requires 3D facial model beforehand. For example, error in selection of a 3D facial model for the user may cause inaccurate tracking results.Russakoff and Her man (2000) pr oposed to use ster eo vision system for for egr ound and background segmentation for head tracking. Then, they fit a torso model to the segmented foreground data at each image frame. In this approach, background needs to be modeled first, and then the algorithm selects the largest connected component in the foreground for head tracking.Although all appr oaches r epor ted success under br oad conditions, the pr ior knowledge about the user model or requirement of modeling the background creates disadvantage for many pr actical usages. The pr oposed wor k extends these effor ts to a univer sal 3D facial featu e t acking system by adopting the six-segmented filte app oach Kawato and Tetsutani (2004) for locating the eye candidates in the left image and utilizing the ster eo infor mation for ver ification. The 3D measur ements data fr om the ster eo system allows verifying universal properties of the facial features such as convex curvature shape of the nose explicitly while such infor mation is not pr esent in the 2D image data dir ectly. Thus, stereo tracking not only makes tracking possible in 3D, but also makes tracking more robust. We will also descr ibe an online lip color lear ning algor ithm which doesn't r equir e pr ior knowledge about the user for mouth outer contour tracking in 3D.3. Face ROI LocalizationIn general, face tracking approaches are either image based or direct feature search based methods. Image based (top-down) approaches utilize statistical models of skin color pixels to find the face r egion fir st, accor dingly pr e-stor ed face templates or featur e sear ch algorithms are used to match the candidate face regions as in Chiang et al. (2003). Feature based appr oaches use specialized filter s dir ectly such as templates or Gabor filter of different frequencies and orientations to locate the facial features.Our wor k falls into the latter categor y. That is, fir st we find the eye candidate locations employing the integr al image technique and the six segmented r ectangular filter (SSR) method with SVM. Then, the similarities of all eye candidates are verified using the stereo system. The convex curvature shape of the nose and first and second derivatives around the nose tip are utilized for the verification. The nose tip is then utilized as a reference for theReal-time Vision Based Mouth Tracking and Parameterization for a Humanoid Imitation Task 243selection of the mouth ROI. At the cur r ent implementation, the system tr acks the per sonclosest to the camer a only, but it can be easily extended to a multiple face tr ackingalgorithm.3.1 Eye TrackingThe pattern of the between the eyes are detected and tracked with updated pattern matching.To cope with scales of faces, various scale down images are considered for the detection, andan appr opr iate scale is selected accor ding to the distance between the eyes (Kawato andTetsutani, 2004). The algorithm calculates the intermediate representation of the input imagecalled “Integral image“, described in Viola & Jones (2001). Then, a SSR filter is used for fastfilter ing of br ight-dar k r elations of the eye r egion in the image. Resulting face candidatesaround the eyes are further verified by perpendicular relationship of nose curvature shape aswell as the physical distance between the eyes, and eye level and nose tip.3.2 Nose Bridge and Nose Tip TrackingThe human nose has a convex curvature shape and the ridge of the nose from the eye levelto the tip of the nose lies on a line as depicted in Fig. 1. Our system utilizes the informationin the integr al intensity pr ofile of convex cur vatur e shape. The peak of the pr ofile of asegment that satisfies Eqn. 1 using the filter shown in Fig.2 is the convex hull point. Aconvolution filter with three segments traces the ridge with the center segment greater thanthe side segments, and the sum of the intensities in all thr ee segments gives a maximumvalue on the convex hull point. Fig.2 shows an example filter with three segments that tracesthe convex hull pattern starting from the eye line. The criteria for finding the convex hullpoint on an integral intensity profile of a row segment is as follows,(1) where S i denotes the integral value of the intensity of a segment in the maximum filter shownin Fig. 2, and j is the center location of the filter in the current integral intensity profile. Thefilter is convolved with the integr al intensity profile of ever y r ow segment. A row segmenttypically extends over 5 to 10 rows of the face ROI image, and a face ROI image typicallycontains 20 r ow segments. Integr al intensity pr ofiles of r ow segments ar e pr ocessed to findtheir hull points (see Fig.1 using Equation 1 until either the end of the face ROI is reached oruntil Eqn. 1 is no longer satisfied. For the refinement process, we found that the first derivativeof the 3D sur face data as well as the fir st der ivative of the intensity at the nose tip ar emaximum, and the second derivative is zero at the nostril level (Gurbuz etal., 2004a).Fig. 1. Nose bridge line using its convex hull points from integral intensity projections.244 Humanoid Robots, New Developments Fig. 2. A three-segment filter for nose bridge tracing.4. Lip TrackingThe nose tip location is then utilized for the initial mouth ROI selection. Human mouth has dynamic behavior and even dynamic colors as well as presence or absence of tongue and teeth. Therefore, at this stage, maximum-likelihood estimation of class conditional densities for subsets of lip (w 1) and non-lip (w 2) classes are formed in real-time for the Bayes decision r ule fr om the left camer a image. That is, multivar iate class conditional Gaussian density pa amete s a e estimated fo eve y image f ame using an unsupe vised maximum-likelihood estimation method.4.1 Online Learning and Extraction of Lip and Non-lip Data SamplesIn or der to alleviate the influence of ambient lighting on the sample class data, chromatic color transformation is adopted for color representation (Chiang et al., 2003; Yang et al., 1998). It was pointed out (Yang et al., 1998) that human skin colors are less variant in the chromatic color space than the RGB color space. Although in general the skin-color distr ibution of each individual may be modeled by a multivar iate nor mal distr ibution, the par ameter s of the distr ibution for differ ent people and differ ent lighting conditions ar e significantly differ ent. Ther efor e, online lear ning and sample data extraction are important keys for handling different skin-tone colors and lighting changes. To solve these two issues, the author s pr oposed an adaptation appr oach to t r ansfo r m the p r evious developed colo r model into the new envi ronment by combination of known par ameter s fr om the pr evious fr ames. This appr oach has two drawbacks in general. First, it requires an initial model to start, and second, it may fail in the case of a different user with completely different skin-tone color starts using the system.We propose an online learning approach to extract sample data for lip and non-lip classes to estimate their distribution in real time. Chiang et al. (2003) in their work provides hints for this approach. They pointed out that lip colors are distributed at the lower range of green channel in the (r,g) plane. Fig. 4 shows an example distribution of lip and non-lip colors in the normalized (r,g) space.Utilizing the nose tip, time dependent (r ,g) spaces for lip and non-lip ar e estimated for every fame by allowing H % (typically 10%) of the non-lip points stay within the lip (r,g) space as shown in Fig. 4. Then, using the obtained (r ,g) space infor mation in the initial classification, the pixels below the nostril line that falls within the lip space are considered as lip pixels, and the other pixels are considered as non-lip pixels in the sample data set ext action p ocess, and RGB colo values of pixels a e sto ed as class att ibutes, respectively.。

机器人前沿报道英语作文The field of robotics is rapidly advancing, with new developments and breakthroughs happening all the time. From humanoid robots to autonomous drones, the possibilities seem endless.Robots are being used in a variety of industries, from manufacturing to healthcare. They can perform tasks that are too dangerous or repetitive for humans, and they can do so with great precision and efficiency.One of the most exciting developments in robotics is the use of artificial intelligence. This allows robots to learn from their experiences and make decisions on their own, without human intervention. It's a game-changer for the field, and it's opening up new possibilities for what robots can do.As robots become more advanced, there are also ethical and social considerations to take into account. How do weensure that robots are used for the benefit of humanity, and not to its detriment? These are important questions that need to be addressed as the technology continues to evolve.Despite the challenges, the future of robotics looks incredibly promising. We can expect to see robots playing an even bigger role in our lives in the years to come, and the possibilities for what they can achieve are truly exciting.。

Conceptual Design of Humanoid Robots Prof. Dr.-Ing. Dr.h.c. Albert AlbersInstitute of Machine Design and Automotive EngineeringUniversity of Karlsruhe1. IntroductionThe development of a humanoid robot within the scope of special research area 588 has the objective of creating a machine that closely cooperates with humans. This leads to requirements such as little weight, small moving masses (no potential danger for persons in case of collision), as well as appearance, motion space, and work movements after the human model. One reason for the last point is the requirement for the robot to operate in surroundings designed for humans. Another aspect is the acceptance by technologically unskilled users, which is likely to be higher if the robot has a humanoid shape and calculable movements.A humanoid robot is a highly complex mechatronical system, as the required functionality can only be achieved by the interplay of mechanical components with extensive sensor technology, state-of-the-art actuators and highly developed software. The development of mechatronical products is a major point of emphasis for research at our institute. 2. Development of an complex mechatronical system, e.g. humanoid robot2.1 Definition of the term “Mechatronic”In order to distinguish mechatronical systems from electromechanical systems, we define “Mechatronic” as follows [1]:“Mechatronics is concerned with technological systems, consisting of mechanical, electrical/electronical, and information technological subsystems that are characterised by intensive interaction and cannot be developed separately and in independent discipline-oriented processes.”2.2 Product development process in MechatronicSuccessful development of complex mechatronical systems is only possible in close cooperation of specialists of the concerned fields of mechanics, electronics, and information technology (fig. 1). Discipline-oriented partial solutions cannot provide or only with significant delays the desired result.Fig. 1: Product development process in MechatronicFig. 2: V-model. Reference for developing mechatronical productsThe development of technological systems can be carried through according to the V-model (fig. 2) [2]. After analysing all demands on the total system, the subfunctions and subsystems simultaneously being developed by the cooperating development teams are defined (left branch of the V-model). After verifying the subfunctions and testing the subsystems (e. g. the robot wrist including all actuators and sensors), the subsystems are gradually integrated and then the initial operation phase can begin (right branch of the V-model). The working structures with the necessary working surface pairs and connecting channel and support structures are defined according to the element model “working surface pairs & channel and support structures” developed at the Institute of Machine Design and Automotive Engineering [3].The development of technological systems is originally an iterative process involving the development of physical and mathematical models. These models help to verify hypotheses and to simulate and therefore predict properties. Additionally the model helps to gather information, which is not available from the real system, e. g. the tensile stress of certain construction components. Due to the complex hybrid structure, model development and simulation are of even greater significance when the mechatronical product development process is concerned. As tools and software are very much discipline-oriented and can very often not communicate, the process is even more difficult. This is an important research task in the field of mechatronics. The over-all solution, which is still in the conceptual and design phase of the developing process, can be contributed to build up the prototype. This is the current stage of the humanoid robot at the University of Karlsruhe. The construction of the prototype is also an iterative process into which experiences from preceding development stages are to be included.2.3 DIC-method, team-oriented development with internal competition The DIC-method (development by internal competition) is a way to increase the efficiency of team-oriented development processes. The incentive of internal competition between development teams of the same enterprise is used for finding the optimal solution. The competing teams are presented with the same terms of reference.Several development teams consisting of specialists of all the concerned subjects worked in competition in order to develop concepts for several subsystems of a humanoid robot for a period of approximately six months. By using the approaches of concurrent engineering and the DIC-method, a large number of different methods of resolution were developed (fig. 3). Each of these concepts consists of a multitude of component solutions for the mechanical structure of individual joints, sensor, and actuators. This large number of conceptual suggestions is the basis for the currently continuing development.Fig. 3: Different concepts of a humanoidrobot2.4 The demonstratorThe upper body considered optimal for a robot, developed according to the methods described, is currently being assembled at the Institute for Machine Design and Automotive Engineering. Its proportions correspond to those of an average woman with a height of 165 cm. A special emphasis has been put on the development of the arm mechanics. The robot’s arm of the first development stage will be equipped with 7 degrees of flexibility (fig.4). As a principle, only lightweight materials were used and the electric drive units were placed in the thorax in order to design a lighter arm. Three different principles are used to connect the motors and the joints. The power transmission to the wrist will be hydraulic for the first prototype. For the elbow, rope pulls will be used and the shoulder will be driven directly. This concept allows a minimal weight for the arm of only about 2, 5 kg [4]. Three different measuring principlesare applied for measuring the torsion angles, depending on the available construction space and the required accuracy. The torsion angles in the shoulder are measured absolutely by optical encoders, the ones in the elbow by precision rotary potentiometers, the ones in the wrist using a new type of magnetoresistive angular sensors [5].The neck joint (fig. 4) is equipped with four degrees of flexibility. Three rotation axes are situated in the lower neck segment and another one on the upper side of the neck, which allows the nodding of the head. The electrical motors are moved by the others as little as possible.For the pan-tilt units for moving the stereo camera system, a mechanism is implemented that allows each camera to move independently by two degrees of flexibility. It is driven by highly dynamic, brushless electric motors that are also stationary for dynamic reasons. As a high degree of accuracy is required for the angle measurement of the cameras, the high-resolution optical encoder is used here.Fig. 4: Components of the humanoid robot currently being assembled (arm, neck andpan-tilt unit)3. SummaryFor the development of a complex mechatronical system of a humanoid robot, a combination of the development methods concurrent engineering and DIC has proven to be target-oriented. In total, 33 different solutions that all fulfilled the requirements were developed in a brief period of time. The most promising concepts were then selected. They are currently being realised as the first prototype.4. References[1] Albers, A. Einführung in dieMechatronik , Lecture at theUniversity of Karlsruhe, 2001, mkl-Eigenverlag, Karlsruhe.[2] Gausemeier, Jürgen ; Lückel, Joachim.Entwicklungsumgebung Mechatronik ;Methoden und Werkzeuge zurEntwicklung mechatronischer Systeme;Paderborn ; HNI, 2000 (HNI-Verlagsschriftenreihe ; Bd.80).[3] Albers, A.; Matthiesen, S. .KonstruktionsmethodischesGrundmodell zum Zusammenhang vonGestallt und Funktion technischerSysteme – Das Elementmodell…Wirkflächenpaare &Leitstützstruktur“ zur Analyse undSynthese technischer Systeme .Konstruktion, Zeitschrift fürProduktentwicklung; Band 54; Heft7/8 - 2002; Seite 55 - 60; Springer-VDI-Verlag GmbH & Co. KG;Düsseldorf 2002.[4] Behrendt, Matthias . Entwicklung undKonstruktion der Armmechanik undSensorik eines Humanoiden Roboters .Degree Dissertation , Institut fürAngewandte Informatik, UniversitätKarlsruhe 2002.[5] Company Sensitec . Novelmagnetoresistive Angle-Sensors.Product information.。

82 Humanoid Robots, New Developments6. Improving Robust Stability by Energy Feedback ControlEq. (26) implies that the walking system becomes r obust thr ough the r efer ence ener gy tr acking. In other wor ds, this contr ol expands the basin of attr action of a limit cycle, however, our method Eq. (13) is so called the feed-forward control, which gives only energy change ratio without any information to attract the trajectories. Based on the observations, in this section, we firstly analyze the stability of the walking cycle and then consider an energy feedback control law in order to increase the robustness of the walking system.Let us then consider an ener gy feedback contr ol using a r efer ence ener gy tr ajector y. Consider the following control T d dE E E E ] șSu , (31) which determines the control input so that the closed energy system yieldsd d d d E E E E t] (32) where 0]! is the feedback gain. The original energy constraint control can be recognizedas the case of dEO and 0] in Eq. (31). By integrating Eq. (11) w.r.t. time, we can obtain the reference energy d E using virtual time s as d 0()E s E s O (33)where 0E [J] is the energy value when 0s [s]. A solution of Eq. (31) using constant torqueratio P yieldsd d 12111E E E P ]P T T ªº «» ¬¼Su . (34) Although autonomy of the walking system is destroyed by this method, we can improve the robustness of the walking system.One way to examine the gait stability is Poincaré return map from a heel-strike collision to the next one. The Poincaré return map is denoted below as F :1k k x F x (35)where the discrete state k x is chosen as2112[][][][]k k k k k T T T T ªº «» «»«»¬¼x , (36) that is, relative hip joint angle and angular velocities just after k -th impact. The function F is determined based on Eqs. (1) and (3), but cannot be expressed analytically. Therefore, we must compute F by numerical simulation following an approximation algorithm.In the case of steady walking, the relation F x x holds and x is the equilibrium point of state at just after transition instant. For a small perturbation k G x around the limit cycle,the mapping function F can be expressed in terms of Taylor series expansion ask k k G G | F x F x x x F x (37)whereBiped Gait Generation and Control Based on Mechanical Energy Constraint 83w w 'x x x x F F )( (38) is the Jacobian (gr adient) ar ound x . By per for ming numer ical simulations, F can becalculated approximately. The all eigenvalues of F are in the unit circle and the results are omitted. Although the robustness of the walking system is difficult to evaluate mathematically, the maximum singular value of F should imply the convergence speed of gait; smaller the value is, faster the conver gence to the steady gait is. Fig. 9 shows the analysis r esult of maximum singular value of F w.r.t ] in the Fig. 7 case with ener gy feedback cont ol whe e 021.8575E [J] and 10.0] . The maximum singula value monotonically decr eases with the incr ease of ]. The effect of impr ovement of the gait robustness by feedback control can be confirmed. Although applying this method destroys autonomy of the walking system, we can improve the robustness.Fig. 9. Maximum singular value of F w.r.t. the feedback gain ].6. Extension to a Kneed BipedThis section considers an extension of ECC to a kneed biped model. We treat a simple planar kneed biped model shown in Fig. 10, and its dynamic equation is given by1211()(,)()0100u u ªºªº«» «»«»¬¼«»¬¼M șșC șșșg șSu (39) We consider the following assumptions.1.The knee-joint is passive.2.It can be mechanically locked-on and off.84 Humanoid Robots, New DevelopmentsX111222333l a b l a b l a b 1a 1T 2T 3T 1b 1u 2u 1,m IHm 2m 3m 1a 1a 1b 1b ZOFig. 10. Model of a planar underactuated biped robot. The ECC then yields a problem of how to solve the following redundant equation:11122E u u T T T O (40) for the control inputs in real-time. Since the knee-joint is free, we can give the control input by applying the form of Eq. (28) as121110P O P T T ªº ªº«»«» ¬¼«»«»¬¼Su . (40) On the other hand, a kneed biped has a pr oper ty of obstacle avoidance, in other wor ds, guar anteeing the foot clear ance by knee-bending. To impr ove the advantageous, we introduce an active knee-lock algorithm proposed in our previous work (Asano & Yamakita,2001) in the following. The passive knee-str ike occur s when 23T Tdur ing the single-support phase, and its inelastic collision model is given byT ()()I IO M șșM șșJ (41) gBiped Gait Generation and Control Based on Mechanical Energy Constraint 85 where >@T 011I J and I O is the Lagrange’s indeterminate multiplier vector and means the impact for ce. We intr oduce an active knee-lock algor ithm befor e the impact and mechanically lock the knee-joint at a suitable timing. Let us then consider the dissipated mechanical energy at this instant. Define the dissipated energy ks E ' as0)()(21)()(21d '' 7 7 T T T T T T M M E ks (42) This can be rearranged by solving Eq. (41) as2T 123T 1T ks 1T 122I I I I I I E T T ' șJ J M J J șJ M J . (43) This shows that the condition to minimize the energy dissipation is 23T T , and this leads ks 0E ' . In gener al, ther e exists the timing in the kneed gait. After locking-on the knee-joint, we should lock-off it and the timing should be chosen empirically following a certain trigger. In this section, we consider the trigger as 0g X [m] where g X is the X -position ofthe robot’s center of mass. Fig. 11 shows the phase sequence of a cycle with the knee-lock algorithm, which consists of the following phases.1.Start2.3-link phase I3.Active knee-lock on4.Virtual compass phase (2-link mode)5.Active knee-lock off6.3-link phase II7.Passive knee-strikepass phase (2-link mode)9.Heel-strikeFig. 12 shows the simulation r esults of dynamic walking by ECC wher e 5.0O and 4.0P . The physical par ameter s ar e chosen as Table 2. Fr om Fig. 12 (b) and (d), it is confir med that the passive knee-joint is suitably locked-on without ener gy-loss, and after that, active lock-off and passive knee-strike occur. Fig. 13 shows the stick diagram for one step. We can see that a stable dynamic bipedal gait is generated by ECC.Fig. 11. Phase sequence of dynamic walking by ECC with active lock of free knee-joint.86 Humanoid Robots, New DevelopmentsO Fig. 12. Simulation r esults of dynamic walking of a kneed biped by ECC wher e 5.0 P.[J/s] and 4.0Biped Gait Generation and Control Based on Mechanical Energy Constraint 87 1m 23m m 5.0kg 2m 3.0 kg 3m 2.0 kg Hm 10.0 kg I 223231/m m a b m 0.2432kg m 1a 232331/m l a m a m 0.52m 1b 0.48 m 2a 0.20 m 2b 0.30 m 3a 0.25 m 3b 0.25 m 1l 11a b 1.00m 2l 22a b 0.50m 3l 33a b 0.50mTable 2. Parameters of the planar kneed biped.Fig. 16. Stick diagram of dynamic walking with free knee-joint by ECC88 Humanoid Robots, New Developments 7. Conclusions and Future WorkIn this chapter, we have proposed a simple dynamic gait generation method imitating the property of passive dynamic walking. The control design technique used in this study was shown to be effective to gener ate a stable dynamic gait, and numer ical simulations and experiments have proved its validity.The authors believe that an energy restoration is the most essential necessary condition of dynamic walking and its concept is wor th to be taken into consider ation to gener ate a natur al and ener gy-efficient gait. In the futur e, extensions of our method to high-dof humanoid robots should be investigated.8. ReferencesAsano, F. & Yamakita, M. (2001). Vir tual gr avity and coupling contr ol for r obotic gait synthesis, IEEE Trans. on Syst ems, Man and Cybernet ics Part A, Vol. 31, No. 6, pp.737-745, Nov. 2001.Goswami, A.; Thuilot, B. & Espiau, B. (1996). Compass-like biped robot Part I: Stability and bifurcations of passive gaits, Research Report INRIA 2613, 1996.Goswami, A.; Espiau, B. & Keramane, A. (1997). Limit cycles in a passive compass gait biped and passivity-mimicking control laws, Autonomous Robots, Vol. 4, No. 3, pp. 273-286, Sept. 1997.Koga, M. (2000). Numer ical Computation with MaTX (In Japanese), Tokyo Denki Univ.Press, ISBN4-501-53110-X, 2000.McGeer, T. (1990). Passive dynamic walking, Int. J. of Robotics Research, Vol. 9, No. 2, pp. 62-82, April 1990.Vukobuatoviþ, M. & Stepanenko, Y. (1972). On the stability of anthr opomor phic systems, Mathematical Biosciences, Vol. 15, pp. 1-37, 1972.6Dynamic Simulation of Single and CombinedTrajectory Path Generation and Controlof A Seven Link Biped RobotAhmad BagheriPeiman Naserredin MusaviGuilan UniversityIranbagheri@guilan.ac.ir1. IntroductionRecently, numerous collaborations have been focused on biped robot walking pattern to trace the desired paths and perform the required tasks. In the current chapter, it has been focused on mathematical simulation of a seven link biped robot for two kinds of zero moment points (ZMP) including the Fixed and the Moving ZMP. In this method after determination of the br eakpoints of the r obot and with the aid of fitting a polynomial over the br eakpoints, the trajectory paths of the robot will be generated and calculated. After calculation of the trajectory paths of the robot, the kinematic and dynamic parameters of the robot in Matlab environment and with r espect to power ful mathematical functions of Matlab, will be obtained. The simulation process of the robot is included in the control process of the system. The control process contains Adaptive Method for known systems. The detailed relations and definitions can be found in the author s’ published ar ticle [Musavi and Bagher i, 2007]. The simulation pr ocess will help to analyze the effects of dr astic par ameter s of the r obot over stability and optimum generation of the joint’s driver actuator torques.2. Kinematic of the robotThe kinematic of a seven link biped robot needs generation of trajectory paths of the robot with r espect to cer tain times and locations in r elevant with the assumed fixed coor dinate system. In similar ity of human and r obot walking patter n, the pr ocess of path tr ajector y generation refers to determination of gait breakpoints. The breakpoints are determined and calculated with respect to system identity and conditions.Afterward and in order to obtain comprehensive concept of the robot walking process, the following parameters and definitions will be used into the simulation process:- Single Support phase: The robot is supported by one leg and the other is suspended in air - Double support phase: The robot is supported by the both of its legs and the legs are in contact with the ground simultaneously: Total traveling time including single and double support phase times. c T -c T : Double support phase time which is regarded as 20% of d T -Humanoid Robots, New Developments 90-m T : The time which ankle joint has reached to its maximum height during walking cycle.: Step number k -Ankle joint maximum height :ao H --ao L : The horizontal traveled distance between ankle joint and start point when the anklejoint has reached to its maximum height.Step length :s D -: Foot lift angle and contact angle with the level ground f b q q ,--O : Surface slope-s h : Stair level height --st H : Foot maximum height from stair level-ed x : The hor izontal distance between hip joint and the suppor t foot (Fixed coor dinate system) at the start of double support phase time.-sd x : The hor izontal distance between hip joint and the suppor t foot (Fixed coor dinate system) at the end of double support phase time.- F. C. S: The fixed coordinate system which would be supposed on support foot in each step. -M.C : The mass centers of the links- Saggital plane: The plane that divides the body into right and left sections.- Fr ontal plane: The plane par allel to the long axis of the body and per pendicular to the saggital plane.The saggital and fr ontal planes of the human body ar e shown in figur e (1.1) wher e the transverse plane schematic and definition have been neglected due to out of range of ourcalculation domain.Fig. (1.1). The body configuration with respect to various surfaces.The main role for the optimum trajectory path generation must be imagined upon hip and ankle joints of the robot. On the other hand, with creating smooth paths of the joints and with the aid of the br eakpoints, the r obot can move softly with its optimum movement par ameter s such as minimum actuator tor ques of joints (Shank) including integr ity of the joints kinematic parameters. Sagittal FrontalDynamic Simulation of Single and Combined Trajectory Path Generation andControl of A Seven Link Biped Robot 91 The important parameters of the robot can be assumed as the listed above and are shown inbiped robot.Fig. (1.3). The variables of hip: sd ed ,.With r espect to saggital investigation of the r obot, the most affecting par ameter s of the mentioned joints can be summarized as below:1) Hip joint2) Ankle jointObviously, the kinematic and dynamic attitude of shank joint will be under influence of the both of above mentioned joints. As can be seen from figure (1.2), the horizontal and vertical components of the joints play a gr eat r ole in tr ajector y paths gener ation. This means that timing-process and location of the joints with respect to the fixed coordinate system which would be supposed on the support foot have considerable effects on the smooth paths and subsequently over stability of the r obot. Regar ding the above expr essions and conditions, the vertical and horizontal components of the joints can be categorized and calculated as the following procedure. With respect to the conditions of the surfaces and figure (1.2) and (1.3), the components are classified as below:2.1) Foot angle on horizontal surface or stair(1)°°¯°°®­ d c gf c fd c b c gs a T T k t q T k t q T kT t q kT t q t )1()1()(THumanoid Robots, New Developments922.2) Foot angle on declined surfaces)2(°°¯°°®­ d c gf cf dc b c gs a T T k t q T k t q T kT t q kT t q t )1()1()()(O O O O T 2.3) The displacements o f Ho rizo ntal and Vertical Fo o t Traveling Over Ho rizo ntalSurface or StairWith respect to figures (1.2) and (1.3), the horizontal and vertical components of ankle joint can be shown as below:(3)°°°°°¯°°°°°®­ d c sf ab cf an s m c aos b af dc b an s c s ahor T T k t D k q l Tk t q l D k T kT t L kD q l T kT t q l kD kT t kD t x )1()2()cos 1()1(sin )2()cos 1(sin )( (4)°°°¯°°°®­ dc an ge c fan f ab ge m c aod c b an b af gs c an gs ahor T T k t l h T k t ql q l h T kT t H T kT t q l q l h kT t l h t z )1()1(cos sin cos sin )((5)°°°°°¯°°°°°®­ dc an st f an c fab st m c stst b an d c b af st c an st stair T T k t l h k q l T k t q l h k T kT t H kh q l T kT t q l h k kT t l h k t z )1()1(cos )1(sin )1(cos sin )1()1()(2.4) The displacements of Horizontal and Vertical Foot Traveling Over declined Surface(6)°°°°°¯°°°°°®­ d c an s f ab f an c ab s m c ao s b af b an d c af s can s dec a T T k t l D k q l q l T k t l D k T kT t L kD q l q l T kT t l kD kT t l kD t x )1(sin cos )2()cos()sin()1(cos ))2((cos )()cos()sin(cos )(sin cos )(,OO O O O O O O O O ODynamic Simulation of Single and Combined Trajectory Path Generation and Control of A Seven Link Biped Robot93(7)°°°°°¯°°°°°®­ d c an s f ab f an c ab s mc ao ao s b af b and c af s can s dec a T T k t l D k q l q l T k t l D k T kT t H L kD q l q l T kT t l kD kT t l kD t z )1(cos sin )2())(2/cos()sin()1(sin ))2((cos sin )()sin()cos(sin )(cos sin )(,OO O S O O O O O O O O O Assuming the above expr essed br eakpoints and also applying the following boundar ycondition of the robot during walking cycle, generation of the ankle joint trajectory path can be performed. The boundary conditions of the definite system are determined with respect to physical and geometrical specifications during movement of the system. As can be seen from figure (1.2) and (1.3), the linear and angular velocity of foot at the start and the end of double support phase equal to zero:(8)¯®­ ¯®­ °¯°®­ 0))1((0)(0))1((0)(0))1((0)(d c a c a d c a ca d c aca T T k zkT z T T k xkTx T T k kT T T The best method for generation of path trajectories refers to mathematical interpolation. There are several cases for obtaining the paths with respect to various conditions of the movement such as number of br eakpoints and boundar y conditions of the system. Regar ding the mentioned conditions of a seven link biped robot, Spline and Vandermonde Matrix methods seem more suitable than the other cases of interpolation process. The Vandermonde case is the simplest method with r espect to calculation pr ocess while it will include calculation er r or s with increment of breakpoint numbers. The stated defect will not emerge on Spline method and it will fit the optimum curve over the breakpoints regardless the number of points and boundar y conditions. With r espect to low number of domain br eakpoints and boundar y conditions of a seven link biped r obot, ther e ar e no consider able differ ences in calculation process of Vandermonde and Spline methods. For an example, with choosing one of the stated methods and for r elations (7) and (8), a sixth-order polynomial or thir d-or der spline can be fitted for generation of the vertical movement of ankle joint .2.5) Hip Trajecto ry Interpo latio n fo r the Level Gro und [Huang and et. Al, 2001] and Declined SurfacesFr om figur es (1.2) and (1.3), the ver tical and hor izontal displacements of hip joint can be written as below:(9)°¯°®­ ced s d c sd s c ed s stairHor h T k t xD k T kT t x D k kT t x kD x )1()1()1(,,Humanoid Robots, New Developments94(10)°¯°®­ c ed s d c sd s c ed s Dec h Tk t x D k T kT t x D k kT t x kD x )1(cos ))1((cos ))1((cos )(.,O O O(11)°¯°®­ ch d c c h ch Hor h T k t H T T kT t H kT t H z )1()(5.minmax min.,(12),sin ))1(()1(,cos sin )()(5.,cos sin )(,cos min max min .,O O OO OO ed s c h sd s d c c h ed s c h Dec h x D k T k t H x kD T T kT t H x kD kT t H z (13)°¯°®­ c h sd c c h s c h s stairT k t H kh T T kT t H kh kT t H h k z )1()(5.)1(min maxmin Wher e, in the above expr essed r elations, min H and max H indicate the minimum and maximum height of hip joint from the fixed coordinate system. Obviously and with respect to figure (1.2), the ankle and hip joint parameters including a a z x ,andh h z x , play mainrole in optimum generation of the trajectory paths of the robot. With utilization of relations(1)-(13) and using the mathematical interpolation process, the trajectory paths of the robot will be completed.Fig. (1.4). The link's angles and configurations.Regarding figure (1.4) and the trajectory paths generation of the robot based on four important parameters of the system (a a z x ,and h h z x ,), the first kinematic parameter of the robot canbe obtained easily. On the other hand, with utilization of inverse kinematics, the link's angle ofx x x x ,supa z a hip z z ,Dynamic Simulation of Single and Combined Trajectory Path Generation and Control of A Seven Link Biped Robot95the robot will be calculated with respect to the domain nonlinear mathematical equations. As can be seen from figure (1.4), the equations can be written as below:(14)bl l a l l )sin()sin()cos()cos(22112211T S T S T S T S (15)dl l c l l )sin()sin()cos()cos(44334433T T T T Where,hip Sup a x x a , Sup a hip z z b ,swing a hip x x c ,swinga hip z z d , The all of conditions and the needed factors for solving of the relations (14) and (15) have been pr ovided. The r ight hand of r elations (14) and (15) ar e calculated fr om the inter polation pr ocess. For the stated pur pose and with beginning to design program in MALAB environment and with utilization of strong commands such as fsolve , the angles of the links ar e calculated numer ically. In follow and using kinematic chain of the robot links, the angular velocity and acceleration of the links and subsequently the linear velocities and acceler ations are obtained. With respect to figur e (1.5) and assuming the unit vector s par allel to the link's axis and then calculation of the link's position vectors relative to the assumed F.C.S, the following relations are obtained:Fig. (1.5). The assumed unit vectors to obtain the position vectors.(16)))sin()(cos(...0K q I q l r f c m f c m c m E E &(17)Kq l l Il q l r f tot c c f tot ))sin()sin(())cos()cos((0111101 E O T O T E &(18)Kl q l l I l l q l r c f tot c f tot ))sin()sin()sin(())cos()cos()cos((22011221102O T S E O T O T S O T E &Humanoid Robots, New Developments96(19)K l l q l l I l l l q l r c f tot c f tot ))sin()sin()sin()sin(())cos()cos()cos()cos((332201133221103O T O T S E O T O T O T S O T E &(20)Kl l l q l l I l l l l q l r c f tot c f tot ))sin()sin()sin()sin()sin(())cos()cos()cos()cos()cos((4433220114433221104O T O T O T S E O T O T O T O T S O T E &(21)Kq l l l l q l l I q l l l l l q l r b s m s c m f tot b s m s c m f tot )))2/sin()sin()sin()sin()sin()sin(())2/cos()cos()cos()cos()cos()cos((.,.5443322011.,.54433221105 E O S O T O T O T S E O T E O S O T O T O T S O T E &(22)Kl l q l l I l l l q l r tor tor f tot tor tor f tot tor ))2/sin()sin()sin()sin(())2/cos()cos()cos()cos((2201122110O T S O T S E O T O T S O T S O T E &As can be seen from relations (16)-(22), the all of position vectors have been calculated with respect to F.C.S for inserting into ZMP formula. The ZMP concept will be discussed in the next sub-section. Now, with the aid of first and second differentiating of relation (16)-(22), the linear velocities and acceler ations of the link's mass center s can be calculated within relations (23)-(29).(23)))cos()sin((..0.0K q I q l v f c m f c m c m E E Z &&(24)Kq l l Il q l v f tot c c f tot ))cos()cos(())sin()sin((0111111001 E O T Z O T Z E Z &&&&(25)Kl q l l I l l q l v c f tot c f tot ))cos()cos()cos(())sin()sin()sin((22200111222111002O T S Z E Z O T Z O T S Z O T Z E Z &&&&&&&(26)Kl l q l l Il l l q l v c f tot c f tot ))cos()cos()cos()cos(())sin()sin()sin()sin((33322200111333222111003O T Z O T S Z E Z O T Z O T Z O T S Z O T Z E Z &&&&&&&&&Dynamic Simulation of Single and Combined Trajectory Path Generation and Control of A Seven Link Biped Robot97(27)Kl l l q l l I l l l l q l v c f tot c f tot ))cos()cos()cos()cos()cos(())sin()sin()sin()sin()sin((44433322200111444333222111004O T Z O T Z O T S Z E Z O T Z O T Z O T Z O T S Z O T Z E Z &&&&&&&&&&&(28)Kq l l l l q l l Iq l l l l l q l v b c m s c m f tot b c m s c m f tot ))2/cos()cos()cos()cos()cos()cos(())2/sin()sin()sin()sin()sin()sin((.,5.544433322200111.,5.5444333222111005 E O S Z O T Z O T Z O T S Z E Z O T Z E O S Z O T Z O T Z O T S Z O T Z E Z &&&&&&&&&&&&&(29)Kl l q l l I l l l q l v tor tor tor f tot tor tor tor f tot tor ))2/cos()cos()cos()cos(())2/sin()sin()sin()sin((2220011122211100O T S Z O T S Z E Z O T Z O T S Z O T S Z O T Z E Z &&&&&&&&&Accordingly, the linear acceleration of the links can be calculated easily. After generationof the robot trajectory paths with the aid of interpolation process and with utilization of MATLAB commands, the simulation of the biped robot can be performed. Based on the all above exp essed elations and the esulted pa amete s and subsequently with inser ting the par ameter s into the pr ogr am, the simulation of the r obot ar e pr esented in simulation results.3. Dynamic of the robotIn similarity of human and the biped robots, the most important parameter of stability of the robot refers to ZMP. The ZMP (Zero moment point) is a point on the ground whose sum of all moments a ound this point is equal to ze o. Totally, the ZMP mathematical formulation can be presented as below:(30))cos ()sin ()cos (1111ini ini ii i i i n i i i i n i i zmp z g m I z x g m x z g m x¦¦¦¦ O T O O Where,i x and i zar e hor izontal and ver tical acceler ation of the link's mass center with r espect to F.C.S wher e i T is the angular acceler ation of the links calculated fr om the interpolation process. On the other hand, the stability of the robot is determined accordingto attitude of ZMP. This means that if the ZMP be within the convex hull of the robot, the stable movement of the robot will be obtained and there are no interruptions in kinematic par ameter s (Velocity of the links). The convex hull can be imagined as a pr ojection of aHumanoid Robots, New Developments98pyramid with its heads on support and swing foots and also on the hip joint. Generally, the ZMP can be classified as the following cases:1) Moving ZMP 2) Fixed ZMPThe moving type of the robot walking is similar to human gait . In the fixed type, the ZMP position is r estr icted thr ough the suppor t feet or the user 's selected ar eas. Consequently, the significant torso's modified motion is required for stable walking of the robot. For the explained process, the program has been designed to find target angle of the tor so for pr oviding the fixed ZMP position automatically. In the designed program,torso q shows the deflection angle of the tor so deter mined by the user orcalculated by auto detector mood of the program. Note, in the mood of auto detector, the torso needed motion for obtaining the mentioned fixed ZMP will be extracted with respect to the desired ranges. The desired ranges include the defined support feet area by the user s or automatically by the designed pr ogr am. Note, the most affecting parameters for obtaining the robot's stable walking are the hip's height and position. By varying the parameters with iterative method for sd ed x x , [Huang and et. Al, 2001] and choosing the optimum hip height, the robot control process with respect to the torso's modified angles and the mentioned parameters can be performed. To obtain the joint’s actuator tor ques, the Lagr angian r elation [Kr aige, 1989] has been used at the single support phase as below:(31))(),()(i i q G q q q C qq H W where,6,2,0 i and G C H ,, are mass inertia, coriolis and gravitational matrices of thesystem which can be written as following:»»»»»»»»¼º««««««««¬ª 675747372717666564636261565554535251464544434241363534333231262524232221161514131211)(h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h h q H »»»»»»»»¼º««««««««¬ª 676665646362615756555453525147464544434241373635343332312726252423222117161514131211),(c c c c c c c c c c c c c c c c c c c c c c c c c c c cc c c c c c c c c c c c c c qq C »»»»»»»»¼º««««««««¬ª torG G G G GG q G 54321)(Obviously, the above expressed matrices show the double support phase of the movementof the robot where they are used for the single support phase of the movement. On the other hand, the relation (31) is used for the single support phase of the robot. Within the double suppor t phase of the r obot, due to the occur r ence impact between the swing leg and the gr ound, the modified shape of r elation (31) is used with r espect to effects of the r eaction forces of the ground [Lum and et. Al. 1999 and Westervelt, 2003, and Hon and et. Al., 1978]. For the explained process and in order to obtain the single support phase equations of the r obot, the value of 0q (as can be seen in figur e (1.4)) must be put equal to zer o. The calculation process of the above mentioned matrices components contain bulk mathematical elations. Her e, for avoiding the afor esaid r elations, just the simplified r elations ar e presented:。

人形机器人的优点和缺点英文作文Advantages and Disadvantages of Humanoid RobotsHumanoid robots are robots designed to resemble human beings in appearance and behavior. They have been a topic of fascination and speculation for decades, with many people wondering about the potential benefits and drawbacks of these advanced machines. In this essay, we will explore the advantages and disadvantages of humanoid robots.Advantages:1. Versatility: One of the key advantages of humanoid robots is their ability to perform a wide range of tasks, from simple household chores to complex surgical procedures. Their human-like limbs and dexterity allow them to manipulate objects with precision and accuracy.2. Accessibility: Humanoid robots can be programmed to assist individuals with disabilities or limited mobility, helping them with everyday tasks and improving their quality of life. They can also be used in healthcare settings to provide care and companionship to elderly patients.3. Efficiency: Humanoid robots can work tirelessly without getting tired or making mistakes, making them ideal for tasksthat require precision and consistency. They can also perform tasks in hazardous environments where human workers might be at risk.4. Innovation: The development of humanoid robots has led to advancements in artificial intelligence, robotics, andhuman-computer interaction. Researchers and engineers continue to push the boundaries of what these machines can do, opening up new possibilities for the future.Disadvantages:1. Cost: The development and production of humanoid robots can be expensive, making them inaccessible to individuals and organizations with limited resources. Maintenance and repair costs can also add up over time, further increasing the overall investment.2. Ethical concerns: As humanoid robots become more advanced and human-like, questions about their rights, responsibilities, and potential impact on society arise. Some people worry about the ethical implications of creating machines that resemble humans in appearance and behavior.3. Job displacement: The widespread adoption of humanoid robots in various industries could lead to job displacement forhuman workers. While robots can perform tasks more efficiently and accurately, they lack the creativity, empathy, and critical thinking skills that are essential in many professions.4. Safety concerns: Humanoid robots are still in the early stages of development, and there are concerns about their safety and reliability in real-world environments. Malfunctions, errors in programming, or unexpected behavior could pose risks to both humans and the robots themselves.In conclusion, humanoid robots have the potential to revolutionize various industries and improve the quality of life for many individuals. However, it is essential to consider the advantages and disadvantages of these machines carefully and address any ethical, social, and safety concerns that may arise. With further research, development, and collaboration between humans and robots, we can harness the full potential of technology for the benefit of society.。

机器人创新特点英语作文Innovations in RoboticsRobotics has been a rapidly evolving field, constantly pushing the boundaries of what is possible. From the early industrial robots designed for repetitive tasks to the advanced humanoid robots of today, the innovation in this sector has been truly remarkable. As we delve into the unique features and advancements in robotics, it becomes evident that this field is not only transforming industries but also shaping the future of human-machine interaction.One of the most striking innovations in robotics is the development of autonomous systems. These robots are designed to operate independently, without the need for constant human supervision or control. This autonomy is achieved through the integration of sophisticated sensors, complex algorithms, and advanced decision-making capabilities. Autonomous robots can navigate through complex environments, adapt to changing conditions, and make real-time decisions based on the information they gather. This level of independence allows them to tackle tasks that would be challenging or even impossible for human operators, such as exploring hazardous environments or performing delicate surgicalprocedures.Another notable innovation in robotics is the incorporation of artificial intelligence (AI) and machine learning. These technologies have revolutionized the way robots perceive, process, and interact with the world around them. AI-powered robots can learn from their experiences, recognize patterns, and make informed decisions, enabling them to adapt and improve their performance over time. This adaptability is particularly valuable in dynamic and unpredictable environments, where the ability to respond to changing circumstances is crucial.The advancements in robotic manipulation and dexterity are also remarkable. Modern robots are equipped with highly precise and agile end-effectors, such as grippers and manipulators, that can perform intricate tasks with remarkable accuracy. This enhanced dexterity has opened up new possibilities in fields like surgery, where robotic systems can assist in delicate procedures that require a steady hand and a high degree of precision. Additionally, the development of soft robotics, which utilizes flexible and compliant materials, has expanded the range of applications for robots, allowing them to interact with fragile objects and even human beings in a more natural and intuitive manner.Another significant innovation in robotics is the integration ofhuman-robot interaction (HRI) technologies. Researchers have made significant strides in developing intuitive and natural ways for humans to communicate and collaborate with robots. This includes the use of natural language processing, gesture recognition, and even emotional intelligence, enabling robots to understand and respond to human cues and preferences. This enhanced interaction allows for a more seamless and efficient partnership between humans and machines, fostering greater trust and cooperation.The advancements in robotic sensing and perception have also been remarkable. Modern robots are equipped with a wide array of sensors, including vision, auditory, tactile, and even olfactory sensors, allowing them to perceive and interact with their environment in increasingly sophisticated ways. This enhanced sensory perception enables robots to navigate through complex environments, detect and avoid obstacles, and even recognize and respond to human emotions and behaviors.One of the most exciting developments in robotics is the emergence of collaborative robots, or "cobots," designed to work alongside human workers. These robots are designed to be safe, intuitive, and user-friendly, allowing for a seamless integration of human expertise and robotic capabilities. Cobots can assist human workers in tasks that are physically demanding, repetitive, or dangerous, freeing them up to focus on more complex and creative work. This collaborationbetween humans and robots has the potential to revolutionize various industries, from manufacturing to healthcare, by enhancing productivity, efficiency, and worker safety.The future of robotics holds even more promise, with researchers and engineers exploring the potential of bioinspired robotics, where the design and functionality of robots are inspired by nature and biological systems. This approach has led to the development of robots that can mimic the agility and adaptability of animals, opening up new avenues for exploration and problem-solving. Additionally, the integration of quantum computing and other emerging technologies into robotics is expected to further enhance the capabilities of these systems, enabling them to tackle increasingly complex tasks and solve problems that were previously out of reach.In conclusion, the innovations in robotics are truly remarkable, spanning a wide range of advancements in autonomy, artificial intelligence, manipulation, human-robot interaction, and sensing. These innovations are not only transforming industries but also paving the way for a future where humans and robots work together seamlessly, unlocking new possibilities and redefining the boundaries of what is possible. As we continue to push the limits of what robotics can achieve, the future holds endless possibilities forthe continued evolution and integration of these remarkable machines into our daily lives.。

机器人发明英语作文Robots are one of the most incredible inventions of all time. They can perform tasks that are too dangerous or boring for humans. They can also work faster and more efficiently than people. In addition, robots have the potential to improve our lives in countless ways.The first robot was created in 1954 by George Devol and Joseph Engelberger. It was called the Unimate and was used to lift hot pieces of metal from die casting machines. Since then, robots have been used in a wide variety of industries, including manufacturing, healthcare, and even entertainment.One of the most exciting developments in robotics is the creation of humanoid robots. These robots are designed to look and act like humans, with the goal of being able to perform tasks that are too complex for other types of robots. For example, humanoid robots could one day assist with caregiving for the elderly or disabled.In recent years, there has been a surge in the development of artificial intelligence, which has greatly expanded the capabilities of robots. AI allows robots to learn from their experiences and make decisions based on that knowledge. This has opened up newpossibilities for robots to perform tasks that were previously thought to be impossible for machines.In the future, robots have the potential to revolutionize many aspects of our lives. They could be used to perform dangerous tasks such as defusing bombs or exploring deep-sea environments. They could also be used to improve efficiency in industries such as agriculture and transportation. The possibilities are endless, and it's exciting to think about what the future holds for robotics.。

高中英语真题:高考英语阅读及阅读表达自练（2）完形填空。

阅读下面短文，掌握其大意，然后从11—20各题所给的A、B、C和D项中，选出最佳选项，并在答题卡上将该项涂黑。

In a land far away, once upon a time there was great poverty, a nd only the rich could manage without great problems．It is said that one day three of those rich men and their servants were11 together on a road when they came to a very poor village ．The first could not stand seeing the 12 , so he took all the go ld and jewels from his wagons （四轮载重马车） and shared them out among the villagers．He wished the m all the best of luck, and he left．The second rich man, seeing the worrying situation, stopped for a short time and then decided to give the 13 all his food and drink, since he could see that money would be of little 14 to them．He made sure that they each 15 their fair share and would have enough food to last for some time．Then, he left．The third rich man, on seeing such poverty, 16 and went straight through the poverty-stricken village without stopping．The two other rich men saw a ll this from a distance and commented heatedly with each other on how the third rich man lacked sympathy．It was 17 that t hey themselves had been there to offer help．However, to their great surprise, three days later, they 18 th e third rich man, who was coming in the 19 direction．He w as still traveling quickly, but his wagons, instead of the gold and valuables they had been carrying, were now completely full of f arming tools and bags of 20 ．He was rushing back to help t hem out of poverty．11．A．standing B．traveling C．gath ering D．running12．A．land B．welfare C．rich ness D．poverty13．A．villagers B．servants C．others D．rest14．A．interest B．concern C．use D．attraction15．A．returned B．possessed C．offered D．received16．A．turned around B．looked down C．came across D．sped up17．A．good B．certain C．true D．strange18．A．welcomed B．met C．accepted D．persuaded19．A．opposite B．same C．similar D．familiar20．A．food B．jewels C．money D．seeds【参考答案】11-15 BDA CD 16-20 D ABAD阅读下列短文，从每题所给的四个选项（A、B、C和D）中，选出最佳选项。

雅思作文范文2Some people think that robots are very important for humans' future development. Others, however, think that robots are dangerous inventions that could have negative effects on society. Discuss both views and give your opinion.The Role of Robots in Human Development: Assessing Benefits and RisksRobots have become an integral part of our society, eliciting debates about their significance and potential consequences. Views on robots range from seeing them as vital for human progress to expressing concerns about their negative impact. This essay will explore both perspectives, evaluating the benefits and risks associated with robots, and provide an informed opinion on their role in shaping our future.Robots offer several advantages that contribute to human development. They excel in efficiency and precision, performing tasks with unmatched speed, accuracy, and consistency. In sectors like manufacturing, healthcare, and exploration, robots enhance productivity and reduce errors. Additionally, robots contribute to safety and risk reduction by handling dangerous or hazardous tasks, thereby protecting human lives. They also drive automation in industries, streamlining processes, increasing efficiency, and creating new job opportunities.However, there are valid concerns regarding the impact of robots on society. Job displacement is a significant issue as automation replaces human tasks, particularly in sectors prone to robot integration. While new jobs may emerge, there is a risk of increased inequality and job polarization, leaving some workers marginalized. Ethical implications arise as robots become more advanced, raising questions about their autonomy, accountability, and decision-making in critical situations. The potential erosion of human values and responsibility is a cause for concern. Moreover, overreliance on robots may lead to decreased human interaction, social isolation, and detachment from real-world connections.To maximize the benefits of robots while mitigating the risks, a balanced approach is necessary. Education and adaptation play a crucial role in preparing individuals for the changing job landscape. Fostering STEM education and reskilling programs equips people with the skills needed to work alongside robots. Developing comprehensive ethical frameworks and regulations is essential to guide the development and use of robots, ensuring accountability, transparency, and adherence to ethical standards. Encouraging collaboration between humans and robots, rather than perceiving robots as replacements, is key. Robots can augment human capabilities, leading to enhanced productivity and new opportunities for innovation.In conclusion, robots hold great potential for human development, offering efficiency, safety, and automation benefits. However, concerns regarding jobdisplacement, ethical implications, and social consequences cannot be ignored. Striking a balance between embracing technological advancements and mitigating risks is crucial. By investing in education, establishing ethical guidelines, and fostering collaboration between humans and robots, we can harness the transformative power of robots while ensuring a future that benefits both individuals and society as a whole.。

humanoid用法-回复人形机器人（humanoid robot）是一种机器人，其外形与人类相似，具有人类的头部、躯干、四肢等身体结构。

它们被设计成能够执行一系列复杂的任务，包括但不限于走动、说话、抓取物体等。

不同于传统的非人形机器人，人形机器人往往能够与人类进行更自然、更无障碍的交互。

随着科技的进步，人形机器人逐渐成为热门的研究领域，吸引了许多科学家、工程师和设计师的关注。

这种机器人具有广泛的应用前景，可能用于社会护理、医疗协助、工业生产以及娱乐等领域。

在未来的社会护理领域，人形机器人可以成为照顾老人、残疾人和病人的有力助手。

它们能够通过智能学习和感知技术，自动适应不同的环境和需要。

例如，在照料年迈的父母时，人形机器人可以帮助他们进行日常活动，如起床、穿衣、烹饪和清洁。

同时，它们还可以提供陪伴和疏导情感的功能，减轻护理人员的负担。

在医疗协助领域，人形机器人有望成为医生和护士的助手，提供精确而高效的医疗服务。

例如，在手术过程中，人形机器人可以通过精密传感器辅助医生进行手术，并减少人为操作引起的风险。

此外，他们还可以监测患者的生理指标，并及时报告医生，确保患者的安全和舒适。

在工业生产领域，人形机器人可以取代人类从事危险、重复性和繁重的劳动。

例如，在汽车工厂中，他们可以代替工人进行组装、焊接和喷漆等工作。

这不仅可以提高生产效率，还可以减少工人因工作受伤或疲劳导致的生产线停工。

此外，人形机器人还具有广泛的娱乐应用。

他们可以在游乐园、电影院和购物中心等场所表演，与人们互动，提供娱乐和体验的机会。

一些高级人形机器人甚至可以扮演角色，参与电影和电视剧的拍摄。

然而，尽管人形机器人具有许多优点和潜力，仍然存在一些挑战和限制。

首先，技术上的限制使得目前的人形机器人功能和应用还相对有限。

虽然已经取得了一些进步，但机器人的感知和动作仍然不如人类精确和灵活。

其次，人形机器人的制造和维护成本较高，限制了它们在大规模应用中的普及。

狗对人型机器人的英语作文【英文版】The Future of Dogs and Humanoid Robots: The Evolution of Human CompanionsIn the rapidly changing world, we are witnessing the emergence of a new species: the humanoid robot. These machines, with their human-like features and capabilities, are becoming increasingly popular, and it seems that our four-legged friends, the dogs, are playing a significant role in this evolution.Dogs have long been considered man’s best friend, and their unwavering loyalty, companionship, and intelligence have made them an integral part of human society. Now, with the rise of humanoid robots, we are witnessing a new era where these machines are becoming more and more like our canine companions.From emotional support to physical assistance, humanoid robots are proving to be invaluable partners for individuals with disabilities, the elderly, and those who require care. These machines can perform tasks that are difficult or impossible for humans to do, such as walking up and down stairs, or performingtasks that require precise movements.Moreover, dogs and humanoid robots share a deep connection with humans. Both species embody unconditional love and acceptance, and they offer comfort in times of need. The bond that forms between a dog and its owner is no different than that formed between a human and a humanoid robot.However, as we embrace this new technology, we must also be mindful of its potential drawbacks. While humanoid robots offer incredible benefits to individuals and society, they also raise concerns about privacy, security, and ethics. We must ensure that these machines are designed and used in ways that respect human dignity and privacy.In conclusion, the rise of humanoid robots and our four-legged friends, the dogs, is poised to revolutionize the way we interact with technology and each other. As we continue to explore this new frontier, we must remain mindful of the potential benefits and drawbacks, and work towards creating a future that is both beneficial and humane.【中文版】狗与人型机器人的未来：人类伙伴的演变随着社会的快速发展，一种新型物种正在崭露头角，这就是人型机器人。

用英语简绍一篇新型机器人的作文Introducing the Next Generation of Robots: A Revolution in RoboticsIn recent years, there has been an exponential growth in the development of robots across various industries. From manufacturing to healthcare, robots are becoming an integral part of our everyday lives. In this article, we will explore the latest advancements in robotics technology and introduce the next generation of robots that promise to revolutionize the field.One of the most exciting innovations in robotics is the development of humanoid robots that closely resemble humans in their appearance and abilities. These robots are equipped with advanced artificial intelligence systems that enable them to perform a wide range of tasks with precision and efficiency. For example, humanoid robots can be programmed to assist with household chores, provide companionship to the elderly, and even perform complex surgeries in medical settings.Another key development in robotics is the integration of machine learning algorithms that allow robots to learn and adapt to new environments and tasks. This technology enables robotsto continuously improve their performance over time, making them more versatile and effective in a variety of settings.Furthermore, the use of advanced sensors and actuators in robots has greatly enhanced their ability to interact with the world around them. These sensors allow robots to perceive their surroundings, identify objects, and navigate complex environments with ease. By combining these capabilities with sophisticated control systems, robots can now perform tasks that were previously deemed impossible for machines to accomplish.Moreover, the rise of collaborative robots, or "cobots," has revolutionized the way humans and robots interact in shared workspaces. Unlike traditional robots that operate independently of human intervention, cobots are designed to work alongside humans in a cooperative manner. This collaborative approach enables robots to assist humans with repetitive or physically demanding tasks, leading to increased productivity and efficiency in the workplace.In conclusion, the next generation of robots represents a significant leap forward in the field of robotics. With their advanced capabilities, these robots have the potential to revolutionize industries and improve the quality of life for individuals around the world. As technology continues to evolve,we can expect to see even more innovative developments in robotics that will further enhance the capabilities of these remarkable machines.。

Humanoid Robots Human-Like Machines Humanoid robots, also known as human-like machines, have been a topic of fascination and debate for many years. These robots are designed to resemble humans in their appearance and behavior, and their development raises a myriad of ethical, social, and technological questions. From the perspective of technological advancement, humanoid robots represent a significant achievement in the field of robotics and artificial intelligence. They have the potential to revolutionize various industries, including healthcare, manufacturing, and entertainment. However, the increasing sophistication of humanoid robots also raises concerns about their impact on the job market, as well as their potential to blur the lines between humans and machines.One of the most significant advantages of humanoid robots is their potential to perform tasks that are too dangerous or difficult for humans. For example, humanoid robots could be used in disaster response situations to navigate hazardous environments and assist in search and rescue operations. In the healthcare industry, humanoid robots could provide support to elderly or disabled individuals, helping them with daily tasks and providing companionship. Additionally, humanoid robots have the potential to revolutionize the manufacturing industry by performing repetitive and physically demanding tasks with precision and efficiency.However, the increasing integration of humanoid robots in various industries also raises concerns about the displacement of human workers. As these robots become more advanced and cost-effective, there is a risk that they could replace human workers in certain jobs, leading to unemployment and economic instability. This issue is particularly relevant in industries such as manufacturing and customer service, where humanoid robots could potentially perform tasks traditionally carried out by humans. As a result, it is crucial for policymakers and industry leaders to consider the ethical implications of humanoid robots and develop strategies to mitigate the potential impact on the job market.From a social and ethical perspective, the development of humanoid robots raises complex questions about the nature of humanity and the potential consequences of blurring the lines between humans and machines. As these robots become more advanced,they have the potential to evoke emotional responses from humans, leading to questions about the ethical treatment of humanoid robots. For example, should humanoid robots be granted rights and protections similar to those of humans? How should society address the potential emotional and psychological impact of interacting with humanoid robots? These questions highlight the need for a thoughtful and nuanced approach to the integration of humanoid robots into society.Furthermore, the increasing presence of humanoid robots in daily life has the potential to reshape human relationships and social dynamics. For example, as humanoid robots become more sophisticated, they may be used to provide companionship and emotional support to individuals. While this has the potential to benefit those who may be isolated or in need of companionship, it also raises questions about the nature of human relationships and the potential for emotional attachment to machines. Additionally, the use of humanoid robots in roles such as childcare and eldercare raises questions about the impact on human development and the potential for dependency on machines.In conclusion, the development of humanoid robots represents a significant technological advancement with the potential to revolutionize various industries. However, the increasing integration of humanoid robots also raises complex ethical, social, and technological questions. It is crucial for policymakers, industry leaders, and society as a whole to consider the potential impact of humanoid robots on the job market, human relationships, and the nature of humanity. By approaching the development and integration of humanoid robots with thoughtfulness and consideration, we can harness their potential benefits while mitigating their potential drawbacks.。

专题01 宾语从句(2024年各地市名校模拟真题)1．（2024·甘肃平凉·一模）—Are you sure if Lucy ________ for dinner tomorrow? —I’m not sure. If she ________, we will ask Lily instead.A．comes, won’t come B．will come, won’t comeC．will come, doesn’t come D．comes, doesn’t come2．（2024·江苏常州·一模）— Could you tell me ________?—Sure. It’s about Mencius’ mother moved her house three times for her son’s education.A．what this book is mainly about B．whom this book was written byC．when this book was finished D．where was this book published 3．（2024·江苏南京·一模）—Would you like to enjoy the folk dance show A Dream of Red Mansions with me?—I’d love to. Could you please tell me ________?A．when will the show begin B．who the dancers wereC．how long the show will last D．what the show was like4．（2024·四川雅安·二模）—I’m excited about Huawei’s new smartphones. Do you know ______?— Next month.A．how can I get one B．how I can get oneC．when will they come out D．when they will come out5．（2024·广西贺州·一模）—I wonder ________.—To the city park.A．how your last weekend wasB．where you went last weekendC．what you did last weekend6．（2024·甘肃平凉·一模）—Do you know ________ Dunhuang with his family? —Next week.A．when does Mr. Brown visit B．when will Mr. Brown visitC．when Mr. Brown visits D．when Mr. Brown will visit7．（2024·甘肃武威·二模）I don’t know ________ Larry will come to the party or not. If he comes, I’ll let you know as soon as possible.A．whether B．if C．that D．how8．（2024·甘肃武威·二模）—I haven’t seen your brother for a week. Where is he? —Sorry, I don’t know ________.A．where has he been B．where he has beenC．where has he gone D．where he has gone9．（2024·甘肃武威·二模）Lisa wants to visit Miss Li, but she doesn’t know _________.A．when Miss Li leaves B．what Miss Li should doC．why should Miss Li go D．where Miss Li lives now10．（2024·江苏常州·一模）Changzhou is a popular city with a long history. Could you tell me ________?A．where can visitors enjoy delicious Changzhou snacksB．when I can visit the Tian Ning TempleC．how will people get to China Dinosaur ParkD．why was the city also called Yanling in ancient times.11．（2024·江苏南通·一模）—I’m not sure _________.—You’ve tried your best. Whatever the result is, don’t be too hard on yourself.A．whether I like to move here B．when I can prepare for the testC．if I can get high marks in the test D．why I have to move to another city 12．（2024·吉林·二模）—Do you know ________?—Let me see. I remember it was on March 18th.A．why they moved hereB．when they moved hereC．when did they move here13．（2024·四川成都·二模）—I haven’t decided ________.—We hope you can join us. It is a chance to learn about history.A．if I will visit Guixi Park试卷第2页，共16页B．that I will study at the Panda LibraryC．whether I will visit Sanxingdui Museum14．（2024·河北张家口·一模）Susan often draws in her room to relax, but I don’t know ________.A．what she often draws B．where she often drawsC．who often draws to relax D．why she often draws15．（2024·山东菏泽·一模）—Could you tell me ________ get something to eat? —Sure. There’s a restaurant down the street.A．what I can B．where can I C．where I can16．（2024·内蒙古呼伦贝尔·一模）I wondered ________ when we were in dangerous situations.A．whom could we ask for help B．why could we ask for helpC．what we could ask for help D．whom we could ask for help17．（2024·江苏无锡·一模）—The light in Ms Green’s office is still on. Do you know ________?—Because she is preparing for tomorrow’s lesson.A．if must she stay up so late B．why must she stay up so lateC．if she must stay up so late D．why she must stay up so late 18．（2024·江苏无锡·一模）Jason promised that he ________ the 800-metre running test at the end of this term.A．will fail B．would fail C．will pass D．would pass 19．（2024·四川成都·二模）—I really wonder ________ our traditional food is on Qingming Festival?—It’s a kind of round gre en cake called Qingtuan.A．who B．what C．when20．（2024·江苏无锡·一模）The students expected that the 141-millimeter-tall humanoid robot ________ the way people think about robots.A．has changed B．was changing C．would change D．will change 21．（2024·黑龙江哈尔滨·二模）—Could you tell me ________?—I didn’t arrive there until 4: 00 p. m.A．how you got to Shanghai B．when did you go to ShanghaiC．when you arrived in Shanghai22．（2024·四川乐山·二模）—I’m going to give a talk on the Mid-Autumn Festival to the exchange students.—Great! But don’t forget to tell them ________.A．what should they eat at the festivalB．why people enjoy the full moonC．how do people celebrate it23．（2024·四川乐山·二模）I don’t know if you ________ to Mary’s party next Sunday. If you go, so will I.A．go B．will go C．went24．（2024·云南昆明·一模）—Li Lei, could you tell me ________?—Sure. It describes the hottest days of the summer.A．what does “dog days” mean B．what “dog days” meansC．when does “dog days” come D．when “dog days” comes25．（2024·安徽黄山·一模）—You must have had a great time in China in the past National Day.—Of course we did. Come and have a look! These photos will show you ________.A．what did we do there B．why we go there for a tripC．what the trip was like D．whether we have fun there or not 26．（2024·广西·一模）—Excuse me. Could you tell me ________?—Try to be friendly and smile.A．why you had a fight with your classmateB．when you will ask your parents for adviceC．how I can get along well with other people27．（2024·四川成都·一模）—Pardon me, could you please tell me ________? —Sure, there’s a big parking lot over there, under Seven One Plaza.A．where I can park my car试卷第4页，共16页B．how I can park my carC．when we will go to the art museum28．（2024·黑龙江哈尔滨·一模）—Excuse me, could you tell me ________? —Certainly. At a quarter past two in the afternoon.A．where the train would leave B．when the train leaves C．when will the train leave29．（2024·广西南宁·一模）—Kate, do you know ________?—Yes. It’s on Wednesday.A．when we’ll have a picnicB．where we’ll have a picnicC．who will go on a picnic with us30．（2024·山东青岛·一模）—This silk fan looks great. I wonder ________.—I bought it in Anhui during the Spring Festival.A．how you like it B．who it was made by C．where you bought itD．when it can be used31．（2024·湖北武汉·二模）—Mike, your first Dragon Boat Festival in China is coming. Shall we celebrate it together?—I’d love to, but could you tell me ________?A．what is the meaning of the festival B．where we had the celebrationC．how you usually celebrate the festival D．when is this year’s Dragon Boat Festival32．（2024·江苏·一模）—Jenny, is there anything else you’d like to know about the famous people?—Yes. I’m still wondering ________.A．when did Audrey Hepburn enter the film industryB．that Armstrong was the first man to walk on the MoonC．whether Dr. Ma still worked on the ORBIS plane or notD．how Tan Dun makes wonderful music without musical instruments 33．（2024·山东青岛·一模）—What did Billy tell you when he met you just now?—________A．That he bought a new bike. B．Where did he buy a new bike?C．When did he buy a new bike? D．How did he buy a new bike?34．（2024·江苏无锡·一模）Today is Earth Day. Let’s discuss ________.A．where shall we plant more trees B．how should we save more energyC．what we can do to reduce waste D．that we can make our city greener 35．（2024·北京东城·一模）—Do you know ________?—At 2:00 p. m. next Friday.A．when the talent show startedB．when did the talent show startC．when the talent show will startD．when will the talent show start36．（2024·黑龙江鸡西·二模）I think being alone can allow us to pay full attention to ________.A．how do we need to do it B．if we need to do it C．what we need to do37．（2024·江苏泰州·一模）—Eric, can you explain ________.—I’m sorry, Mum. I was watching the football games and didn’t hear it.A．why everything in the house is in a messB．why nobody answered the phone when I called youC．how you can make the television work since it is brokenD．how the robot can play football without batteries38．（2024·河北邯郸·一模）—Could you tell me ________?—Yes, he’s in the library.A．where Henry is B．who is Henry C．how Henry is D．which is Henry39．（2024·天津滨海新·一模）—Do you know ________ a new computer yesterday? —Sorry, I have no idea.A．if Tom bought B．if Tom will buy C．what will Tom buy试卷第6页，共16页D．what Tom bought40．（2024·黑龙江哈尔滨·一模）—Excuse me, I come to Harbin for the first time. Could you tell me ________?—Sure, you can take the subway Line 1.A．how do I get to the 962 HospitalB．which is the way to the 962 HospitalC．where is the 962 Hospital41．（2024·福建福州·二模）—Mr. Li told us to listen to a speech in the school hall this afternoon. Do you know ________?—It’s about how to better communicate.A．what the speech is about B．who will give the speech C．why the speech will be given42．（2024·云南昆明·一模）—The art festival at your school was so wonderful! I wonder _________.—Last Monday. We had a great time that day.A．when was it held B．where it was heldC．when it was held D．where was it held43．（2024·吉林·一模）My friend is interested in science and technology and loves to imagine ________ in 35 years.A．what the world was like B．what the world will be likeC．what will the world be like44．（2024·云南玉溪·一模）— Lily, do you know ________?—Yes, it’s on June 5th.A．what is World Environment Day B．what World Environment Day isC．when World Environment Day is D．when is World Environment Day 45．（2024·广西钦州·一模）—Could you please tell me ________?—By the end of December, 2026.A．how long the Pinglu Canal isB．where the Pinglu Canal endsC．when the Pinglu Canal will be completed46．（2024·四川成都·二模）I am not sure ______ my parents will take my sister and me for a trip. Maybe in the so-called “Horse month of the Monkey year”.A．whether B．when C．why47．（2024·北京西城·一模）—Do you know ________?—Next Tuesday afternoon. We are looking forward to it.A．where we will have the school concertB．where will we have the school concertC．when we will have the school concertD．when will we have the school concert48．（2024·广西河池·一模）—Could you tell me ________?—Yes. There’s a post office next to Renmin Park.A．why I can buy some stamps B．where I can buy some stampsC．how I can buy some stamps49．（2024·江苏无锡·一模）—Excuse me, could you please tell me ________? —Sure. Look at the label. It’s made in Zhe Jiang.A．whose is that sweater B．where the sweater is madeC．what’s the sweater made of D．which sweater do you like best 50．（2024·广西南宁·二模）— Excuse me, could you tell me _______ ?— Go along the road and turn left.A．how I can get to the National StadiumB．what the National Stadium is famous forC．why you want to visit the National Stadium51．（2024·江苏南京·一模）—I want to know ________.—Maybe Kexiang Alley is a good place to go.A．why I can buy some tasty Nanjing snacksB．how can I buy some tasty Nanjing snacksC．when can I buy some tasty Nanjing snacksD．where I can buy some tasty Nanjing snacks试卷第8页，共16页52．（2024·吉林松原·一模）—Can you tell me ________?—I bought it at the book store near my school.A．where did you buy the book B．where you bought the bookC．when you bought the book53．（2024·福建泉州·二模）—Do you know ______?—Practice makes perfect.A．why John is learning ChineseB．how John improves his ChineseC．when John started learning Chines54．（2024·天津·一模）— Do you know _______?— In the gym.A．when we will hold the sports meeting B．when did we hold the sports meeting C．where we will hold the sports meeting D．where will we hold the sports meeting55．（2024·山东菏泽·一模）—Could you please tell me ________?—At the city music hall.A．when the concert will startB．where will the concert be heldC．where the concert will be held56．（2024·湖北武汉·二模）The famous poem “All are past and gone; we look to this age (时代) for truly gre at men.” tells us ________.A．how can we become great men B．how confident the writer wasC．why do we have to value the time D．whom it was written to57．（2024·山东菏泽·一模）—A nice handbag! Could you tell me ______?—On Taobao.A．when you bought it B．where you will buy itC．where you bought it58．（2024·北京通州·一模）—Do you know ________ last winter?—Because the scenery was beautiful and the people were friendly.A．why did many people travel to Harbin B．why do many people travel to Harbin C．why many people travelled to Harbin D．why many people travel to Harbin 59．（2024·北京大兴·一模）—Could you tell me ________?—She went there to do volunteer work.A．why did Miss Sun go to Xinjiang B．why Miss Sun went to XinjiangC．when did Miss Sun go to Xinjiang D．when Miss Sun went to Xinjiang 60．（2024·江苏无锡·一模）—The beautiful private garden attracted a number of visitors last month. Have you heard of it?—Sure. It’s a pity it is closed now. I wonder ________.A．how soon will it be pen to the publicB．how soon it will be open to the publicC．how long will it be open to the publicD．how long it will be open to the public61．（2024·江苏南京·一模）This famous saying “When I walk along with two others, they may serve me as my teachers. ” tells us ________.A．how should we behave B．who we can learn fromC．why do we need teachers D．what we can say in public62．（2024·四川成都·二模）In yesterday’s geography class, I learned that clouds ________ of drops of water.A．make B．are made C．were made63．（2024·云南西双版纳·一模）—Anna, can you tell me ________ last weekend? —We went to our community library.A．where you volunteered B．when you will volunteerC．where did you volunteer D．when will you volunteer64．（23-24九年级下·山东潍坊·阶段练习）—Nancy, do you know ________?—In 1956, I think.A．who wrote the play Teahouse B．what the play Teahouse is aboutC．when the play Teahouse was written D．why Lao She wrote the play Teahouse 65．（23-24九年级下·湖北武汉·阶段练习）The idiom “Be an Armchair Strategist (战试卷第10页，共16页略家)” tells us ________.A．where people should sit B．when should people sit downC．which armchair can be comfortable D．how important practice is 66．（2024·四川泸州·一模）—Could you tell me ________?—“Rome was not built in a day.” You should try to give it enough chances to become strong.A．how can I have a good memoryB．what I can do to have a good memoryC．why I should do to have a good memoryD．Where I can go to have a good memory67．（23-24九年级下·湖北武汉·阶段练习）—Excuse me. Could you tell me ________ about the local history and culture?—Of course. You can check it on this computer.A．how can I get the information B．where I can get the informationC．that I got the information D．what information did I get68．（2024·湖北武汉·一模）The idiom (成语) “Tian Ji and the Horse Race” tells us ________.A．what people do for their dreams B．how important the method isC．when should people race D．which horse can we ride to win 69．（2024·湖北武汉·一模）—Excuse me, could you tell me ________?—At 7 o’clock this evening.A．where we can buy concert tickets B．when the concert will startC．who will sing songs at the concert D．what time will the concert begin 70．（2024·湖北武汉·一模）Tina doesn’t tell me when she ________. I’ll call you as soon as she ________.A．will come, comes B．will come, will comeC．comes, will come D．comes, comes71．（23-24九年级下·福建福州·阶段练习）—Excuse me, I want to go to the Forest Park, but I’m not sure ________.—At the next station. We’re almost there.A．when I should set outB．how I can get thereC．where I should get off72．（2024·吉林长春·一模）—I want to fly kites with friends. Could you please tell me ________ ?—Yes, walk along this street and it is right over there.A．when Changchun Park is open B．why should I go to Changchun ParkC．what can I do in Changchun Park D．how I can get to Changchun Park 73．（2024·江苏宿迁·二模）—Could you tell me ________?—Just ten minutes’ walk. Let’s go there together.A．how we will go to the museum B．when you will go to the museumC．how far the museum is from here D．how will we go to the museum74．（23-24九年级下·吉林长春·阶段练习）—Excuse me, could you please tell me________?—Go along Huaguang Street, and you can see it across from the school.A．when can I get to the bookstore B．how I can get to the bookstoreC．what could I but the bookstore D．where I can get to the bookstore 75．（2024·河北廊坊·一模）—What a beautiful kite! Can you tell me ________?—I made it with my brother’s help.A．when you made it B．where you made itC．who you made it for D．how you made it76．（2024·江苏宿迁·一模）—I haven’t decided __________.—Come on and join us. It’s a good chance to learn history.A．when should I join the Reading Club B．whether I should join the Reading Club C．when will I visit the Nanjing Museum D．whether I will visit the Nanjing Museum77．（23-24九年级下·云南昭通·阶段练习）— Jack, do you know ________?—Yes, he is my classmate Huang Lei.试卷第12页，共16页A．who the boy in blue is B．who is the boy in blueC．what is the boy like D．what the boy is like78．（23-24九年级下·黑龙江绥化·阶段练习）—Can you tell me ________ the population of England is?—Sorry, I don’t know, either.A．which B．what C．who79．（23-24九年级下·江苏泰州·阶段练习）—Miss Wang, could you tell me ________ on March 5?—Anything meaningful you do is OK.A．how we will celebrate B．how I can deal withC．what I should do D．how long Lei Feng has been dead 80．（2024·吉林松原·二模）—Wow, your T-shirt is really nice. Could you tell me ________?—In Clothes Store.A．when did you buy itB．how much did you spend on itC．where you bought it81．（2024·北京海淀·一模）—Bob, can you tell me ________ the science club? —Well, I really like doing experiments.A．why you want to join B．why do you want to joinC．when you want to join D．when do you want to join82．（23-24九年级下·四川成都·阶段练习）—People are talking about Chinese Dream. Can you tell us ________?—By pulling together and working hard.A．how we can make it come trueB．when we can make it come trueC．why they are interested in it83．（2024·江苏徐州·一模）English learning isn’t hard itself. The attitude (态度) you have decides ______.A．who can you ask for help B．that you can make progressC．whether you can learn it well D．why you need to learn English 84．（2024·四川达州·一模）—Could you please tell me ________?—You can park it in the parking lot, across from the street.A．where I can park my car B．when I can park my car C．how can I get to the parking lot85．（2024·广西南宁·一模）—Could you please tell me ________? I want to buy some books.—Go along this street, and you can see it next to the post office.A．where is the bookstore B．what the bookstore wasC．where the bookstore is86．（2024·河北保定·一模）—I wonder ________.—By keeping a diary every day.A．what your writing is like B．how you improve your writingC．when you practice your writing D．who helps you with your writing 87．（2024·湖北武汉·一模）The poem “Long winds and waves sometimes break through, hanging straight from the clouds and sailing (航行) towards the vast (广大的) sea” tells us ________.A．who we should learn from in our daily life B．what we should do when we meet setbacksC．why should we pull through the difficulties D．that we should give up ina hard situation88．（2024·广西钦州·一模）—Can you explain ________?—Because she had to prepare for the final exam.A．who the girl with big round face isB．why she didn’t come to the party last nightC．how soon we can know the answer to the question89．（2024·云南昭通·一模）—A train crash happened in Ohio several days ago. —That was really bad news. People all wondered ________.试卷第14页，共16页A．that why it happened B．what caused the terrible accidentC．how did the government help D．how many people are killed in the crash 90．（2024·黑龙江哈尔滨·一模）—I wonder ________ many tourists left for Harbin to see the Ice and Snow World last winter.—It’s our beautiful and white city that makes them come.A．that B．if C．why91．（2024·湖北武汉·一模）The saying “Nothing can be accomplished without norms or standards.” tells us ________.A．what happened without rules B．why we need rulesC．how can rules help in work and life D．whether is it necessary to set rules 92．（2024·江苏南通·一模）Sora, the new AI, surprises the world with very realistic videos. I wonder ________.A．how soon will Sora be widely put into useB．how does Sora turns words into a 60-second videoC．how long it takes Sora to turn words into a videoD．that Sora has more advantages than ChatGPT93．（2024·山东青岛·一模）—What else did Tina ask you about the trip to Beijing? —She asked me ________.A．who was the guide of the tripB．when they will visit the Palace MuseumC．how long would they stay at the hotelD．if she can go to Peking University alone tomorrow94．（2024·广西梧州·一模）—Could you tell me ________?—The achievements of our country.A．Why you are interested in ChinaB．Who people often talk aboutC．What you are proud of this year95．（2024·四川泸州·二模）—Are you looking forward to the picnic tomorr ow? I’m wondering ________.—Let’s make it at half past 6.A．where will we have a picnicB．when we will meet at the school gateC．how will we climb up the mountainD．what we will do on the mountains96．（2024·云南红河·一模）—Lisa, do you know ________?—I think “Year of Loong” is better.A．whether I should say “Year of Loong” or “Year of Dragon”B．why is the “Year of Dragon” translation betterC．how should I call “Year of Loong”or “Year of Dragon”D．what should I call “Year of Loong” or “Year of Dragon”97．（2024·海南三亚·一模）—Ben, can you tell me ________ lost weekend?—We went to volunteer in our community.A．how you went there B．what you did C．who you played with98．（2024·山东青岛·一模）—Tim, do you know ________?—Bus No. 3 will take you there.A．what the city tour is like B．where I can take the No. 3 bus C．how I can get to the park D．whether the zoo is worth visiting 99．（2024·吉林长春·一模）—I wonder ________.—I am sure he will. He is very kind.A．why Ben will give me a ride B．if Ben will give me a rideC．when will Ben give me a ride D．how Ben will give me a ride 100．（2024·西藏昌都·一模）I want to know_________.A．if she likes the dress B．where does she liveC．if will she go on a trip D．when was she born试卷第16页，共16页参考答案：1．C【详解】句意：——你肯定露西明天会来吃晚饭吗？——我不确定。