https://icelemon.top/tags/%E6%9C%BA%E5%99%A8%E4%BA%BA/Recent content in 机器人 on BlogHugozh-CNSat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/ros2-runtime/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/ros2-runtime/按数据和任务选择topic、service或action，排查QoS、时间戳、回调阻塞和节点启动顺序。https://icelemon.top/tech/robotics/slam-factor-graphs/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/slam-factor-graphs/理解边定位边建图的耦合，用一维位姿图检查回环、权重和坐标自由度。https://icelemon.top/tech/robotics/robot-model-control/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/robot-model-control/用单关节模型区分外观、碰撞、惯量、状态与控制命令，理解mock接口能验证什么。https://icelemon.top/tech/robotics/sensors-calibration/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/sensors-calibration/区分内参、外参、偏置和时间误差，理解相机、深度、激光、编码器与IMU的测量边界。https://icelemon.top/tech/robotics/dynamics-feedback/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/dynamics-feedback/从一维质量块理解模型、反馈、扰动和执行器饱和，比较控制器时保留相同条件。https://icelemon.top/tech/robotics/trajectories-time-scaling/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/trajectories-time-scaling/把几何路径变成带速度与加速度的运动，计算五次多项式的时间下界并检查控制器接口。https://icelemon.top/tech/robotics/simulation-evaluation/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/simulation-evaluation/按需要选择数值模型、Gazebo或MuJoCo，固定数据与版本，并区分仿真通过和真实系统验证。https://icelemon.top/tech/robotics/embodied-learning-route/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/embodied-learning-route/先建立机器人与学习基础，再完成BC、策略梯度和闭环评测，理解视觉动作模型的接口与研究边界。https://icelemon.top/tech/robotics/robot-vision/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/robot-vision/区分检测、分割、三维位姿与配准，理解ICP的适用条件，并把视觉输出接入机器人坐标链。https://icelemon.top/tech/robotics/manipulation-project/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/manipulation-project/运行两连杆抓放状态机和跟踪实验，再把视觉、规划场景、夹爪与轨迹执行接入MoveIt 2。https://icelemon.top/tech/robotics/manipulation-route/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/manipulation-route/从运动学和力学到视觉、抓取、轨迹与MoveIt 2，区分到位、夹持和真实任务成功。https://icelemon.top/tech/robotics/embodied-learning-project/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/embodied-learning-project/在可复现的一维闭环中完成合成演示、BC与RL训练、独立评估和梯度检查，并提供PyTorch对照。https://icelemon.top/tech/robotics/imitation-learning/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/imitation-learning/把演示转成观测—动作数据，理解行为克隆的损失、闭环分布偏移和按episode切分。https://icelemon.top/tech/robotics/reinforcement-learning/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/reinforcement-learning/明确状态、动作、奖励和终止，用可运行REINFORCE实验理解回报、基线与闭环评估。https://icelemon.top/tech/robotics/task-execution-recovery/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/task-execution-recovery/把导航和抓取接成可取消、可重试的任务，处理过期结果、重试上限和执行状态。https://icelemon.top/tech/robotics/visuomotor-policies/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/visuomotor-policies/理解动作分布、动作序列和语言条件，检查策略输出的坐标、单位、归一化与执行频率。https://icelemon.top/tech/robotics/mobile-navigation-project/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/mobile-navigation-project/先运行A*、外形膨胀和差速跟踪的小型实验，再按TF、定位、代价地图和任务执行接入Nav2。https://icelemon.top/tech/robotics/mobile-robotics-route/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/mobile-robotics-route/从坐标与运动模型走到传感器、定位建图、规划控制和Nav2，逐层完成可检查的导航闭环。https://icelemon.top/tech/robotics/motion-planning/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/motion-planning/把机器人形状与运动约束纳入规划，区分栅格A*、PRM/RRT、轨迹优化和局部跟踪。https://icelemon.top/tech/robotics/kinematics-jacobians/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/kinematics-jacobians/用两连杆机械臂理解关节与末端的映射，数值检查雅可比，并识别不可达目标和奇异位形。https://icelemon.top/tech/robotics/grasping-contact/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/grasping-contact/用摩擦锥和功率关系理解夹持稳定性，区分位置、力与阻抗控制，并计算一个夹持力下界。https://icelemon.top/tech/robotics/state-estimation/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/state-estimation/把运动预测和带噪观测合并，检查协方差、创新和缺测，而不是只追求平滑曲线。https://icelemon.top/tech/robotics/frames-transforms/Sat, 24 Oct 2026 00:00:00 +0800https://icelemon.top/tech/robotics/frames-transforms/把传感器、机器人和目标的位置放进同一套坐标约定，检查变换方向与单位。