仿人机器人发展现状及其腰关节的作用

仿人机器人是研究人类智能的高级平台,是综合多种学科的复杂智能机械,其研制和开发涉及到各学科、多方面问题,目前已成为机器人领域的研究热点问题之一.本文对仿人机器人目前的发展现状进行了综述,分析了多种仿人机器人的自由度分布,介绍了具有不同结构特点的腰机构,分析了腰关节在仿人机器人的稳定动态步行、全身协调运动及有情感步行等方面的重要作用.本文还指出了仿人机器人目前的主要研究方向.

智能机器人分层系统中的人机交互

在非结构环境里工作的智能机器人,人智能的介入有时是必不可少的.本文研究了这类机器人系统人机接口某些问题,提出了人智能输入的分层输入原则,实时性原则和协调性原则,讨论了人机接口的结构和实现问题,给出了人机接口命令的一种格式,并提出了人机操作的实际例子.

7-12岁儿童执行功能与智力的关系

The nature of individual differences among children is an important issue in the study of human intelligence. There are close relation between intelligence and executive functions. Traditional theories, which are based mainly on the factor analysis, approach the problem only from the perspective of psychometrics. However, they do not study the relation of cognition and neurobiology. Some researchers try to explore the essential differences in intelligence from the basic cognitive level, by studying the relationship between executive function and intelligence. The aim of this study was to do the followings 1) to delineate and separate the executive function in children into measurable constructs; 2) to establish the relationship between executive function and intelligence in children; 3) to find out the difference and its neural mechanism between intellectually-gifted and normal children’s executive function. The participants were 188 children aged 7-12 year old. There were 6 executive function tasks. The results were follows: 1) The latent variables analyses showed that there was no stable construct of executive function in 7-10 year old children. The executive function construct of 11-12 year old children could be separated into updating, inhibition and shifting. And they had grown to be more or less the same as adults in the executive function. There were only moderate correlations between the three types of executive function, but they were largely independent of each other. 2) The correlations between the indices of updating, inhibition, shifting and intelligence were different in 7-12 year old children. The older the age, the more the indices were related to intelligence. The updating and shifting were related to intelligence in 7-10 year old children. There were significant correlations between the updating, inhibition, shifting and intelligence in 11-12 year old children. The correlation between updating and intelligence was higher than the correlation between shifting and intelligence. Furthermore, in structural equation models controlling for the three executive functions correlations, updating was highly related to intelligence, but the relations of inhibition and shifting to intelligence were not significant. 3) Intellectually-gifted children performed better than normal children in executive function tasks. The neural mechanism differences between intellectually gifted and average children were indicated by ERP component P3. The present study helps us to understand the relationship between intelligence and executive function; and throws light on the issue of individual differences in intelligence. The present results can provide theoretical support for the development a culture-free intelligence test and a method to promote the development of intelligence. Our present study lends support to the neural efficient hypothesis.

不同智力水平儿童的自我调控特点

Self-regulation has recently become an important topic in cognitive and developmental domain. According to previous theories and experimental studies, it is shown that self-regulation consist of both a personality (or social) aspect and a behavioral cognitive aspect of psychology. Self-regulation can be divided into self-regulation personality and self-regulation ability. In the present study researches have been carried out from two perspectives: child development and individual differences. We are eager to explore the characteristics of self-regulation in terms of human cognitive development. In the present study, we chose two groups of early adolescences one with high intelligence and the other with normal intelligence. In Study One Questionnaires were used to compare whether the highly intelligent group had had better self-regulation personality than the normal group. In Study Two experimental psychology tasks were used to compare whether highly intelligent children had had better self-regulation cognitive abilities than their normal peers. Finally, in Study Three we combined the results of Study One and Study Two to further explore the neural mechanisms for highly intelligent children with respect to their good self-regulation abilities. Some main results and conclusions are as follows: (1) Questionnaire results showed that highly intelligent children had better self-regulation personalities, and they got higher scores on the personalities related to self-regulation such as, self-reliance, stability, rule-consciousness. They also got higher scores on self-consciousness which meant that they could know their own self better than the normal children. (2) Among the three levels of cognitive difficulties in self-regulation abilities, the highly intelligent children had faster reaction speed than normal children in the primary self-regulation tasks. In the intermediate self-regulation tasks, highly intelligent children’s inhibition processing and executive processing were both better than their normal peers. In the advanced self-regulation tasks, highly intelligent children again had faster reaction speed and more reaction accuracy than their normal peers when facing with conflict and inconsistency experimental conditions,. Regression model’s results showed that primary and advanced self-regulation abilites had larger predictive power than intermediate self-regualation ability. (3) Our neural experiments showed that highly intelligent children had more efficient neural automatic processing ability than normal children. They also had better, faster and larger neural reaction to novel stimuli under pre-attentional condition which made good and firm neural basis for self-regualation. Highly intelligent children had more mature frontal lobe and pariental functions for inhibition processing and executive processing. P3 component in ERP was closely related to executive processing which mainly activated pariental function. There were two time-periods for inhibition processing—first it was the pariental function and later it was the coordination function of frontal and pariental lobes. While conflict control task had pariental N2 and frontal-pariental P3 neural sources, highly intelligent children had much smaller N2 and shorter P3 latency than normal children. Inconsistency conditions induced larger N2 than conditions without inconsistency, and conditions without inconsistency (or Conflict) induced higher P3 amplitudes than with Inconsistency (or Conflict) conditions. In conclusion, the healthy development of self-regulation was very important for children’s personality and cognition maturity, and self-regulation had its own specific characteristics in ways of presentation and ways of development. Better understanding of self-regulation can further help the exploration of the nature of human intelligence and consciousness.