Biomimetic Intelligence and Robotics最新文献

Image segmentation network for laparoscopic surgery 用于腹腔镜手术的图像分割网络

Biomimetic Intelligence and Robotics Pub Date : 2025-05-06 DOI: 10.1016/j.birob.2025.100236

Kang Peng , Yaoyuan Chang , Guodong Lang , Jian Xu , Yongsheng Gao , Jiajun Yin , Jie Zhao

{"title":"Image segmentation network for laparoscopic surgery","authors":"Kang Peng , Yaoyuan Chang , Guodong Lang , Jian Xu , Yongsheng Gao , Jiajun Yin , Jie Zhao","doi":"10.1016/j.birob.2025.100236","DOIUrl":"10.1016/j.birob.2025.100236","url":null,"abstract":"<div><div>Surgical image segmentation serves as the foundation for laparoscopic surgical navigation technology. The indistinct local features of biological tissues in laparoscopic image pose challenges for image segmentation. To address this issue, we develop an image segmentation network tailored for laparoscopic surgery. Firstly, we introduce the Mixed Attention Enhancement (MAE) module that sequentially conducts the Channel Attention Enhancement (CAE) module and the Global Feature Enhancement (GFE) module linked in series. The CAE module enhances the network’s perception of prominent channels, allowing feature maps to exhibit clear local features. The GFE module is capable of extracting global features from both the height and width dimensions of images and integrating them into three-dimensional features. This enhancement improves the network’s ability to capture global features, thereby facilitating the inference of regions with indistinct local features. Secondly, we propose the Multi-scale Feature Fusion (MFF) module. This module expands the feature map into various scales, further enlarging the network’s receptive field and enhancing perception of features at multiple scales. In addition, we tested the proposed network on the EndoVis 2018 and a human minimally invasive liver resection image segmentation dataset, comparing it against six other advanced image segmentation networks. The comparative test results demonstrate that the proposed network achieves the most advanced performance on both datasets, proving its potential in improving surgical image segmentation outcome. The codes of MAMNet are available at: <span><span>https://github.com/Pang1234567/MAMNet</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 3","pages":"Article 100236"},"PeriodicalIF":0.0,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144490238","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Soft objects grasping evaluation using a novel VCFN-YOLOv8 framework 基于VCFN-YOLOv8框架的软目标抓取评估

Biomimetic Intelligence and Robotics Pub Date : 2025-04-11 DOI: 10.1016/j.birob.2025.100232

Guoshun Cui , Shiwei Su , Hanyu Gao , Kai Zhuo , Kun Yang , Hang Wu

{"title":"Soft objects grasping evaluation using a novel VCFN-YOLOv8 framework","authors":"Guoshun Cui , Shiwei Su , Hanyu Gao , Kai Zhuo , Kun Yang , Hang Wu","doi":"10.1016/j.birob.2025.100232","DOIUrl":"10.1016/j.birob.2025.100232","url":null,"abstract":"<div><div>Humans can quickly perform adaptive grasping of soft objects by using visual perception and judgment of the grasping angle, which helps prevent the objects from sliding or deforming excessively. However, this easy task remains a challenge for robots. The grasping states of soft objects can be categorized into four types: sliding, appropriate, excessive and extreme. Effective recognition of different states is crucial for achieving adaptive grasping of soft objects. To address this problem, a novel visual-curvature fusion network based on YOLOv8 (VCFN-YOLOv8) is proposed to evaluate the grasping state of various soft objects. In this framework, the robotic arm equipped with the wrist camera and the curvature sensor is established to perform generalization grasping and lifting experiments on 11 different objects. Meanwhile, the dataset is built for training and testing the proposed method. The results show a classification accuracy of 99.51% on four different grasping states. A series of grasping evaluation experiments is conducted based on the proposed framework, along with tests for the model’s generality. The experiment results demonstrate that VCFN-YOLOv8 is accurate and efficient in evaluating the grasping state of soft objects and shows a certain degree of generalization for non-soft objects. It can be widely applied in fields such as automatic control, adaptive grasping and surgical robot.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 3","pages":"Article 100232"},"PeriodicalIF":0.0,"publicationDate":"2025-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144714580","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Editorial for the special issue on Advanced Technology in Autonomous Robots and Swarm Intelligence “自主机器人和群体智能中的先进技术”特刊社论

Biomimetic Intelligence and Robotics Pub Date : 2025-03-18 DOI: 10.1016/j.birob.2025.100230

Weinan Chen, Tao Zhang, Jiyu Cheng, Yangming Lee, Yisheng Guan

引用次数: 0

A novel magnetoelastic torque sensor with planar spiral coil probes for humanoid robot joints 一种基于平面螺旋线圈探头的新型人形机器人关节磁弹性扭矩传感器

Biomimetic Intelligence and Robotics Pub Date : 2025-03-17 DOI: 10.1016/j.birob.2025.100229

Zijian Zhang , Zitao Wang , Ming Shao , Yangyang Dong , Fenglei Ni

引用次数: 0

View planning for visual detection coverage tasks of large airplane upper surface using UAVs 基于无人机的大型飞机上表面目视探测覆盖任务视角规划

Biomimetic Intelligence and Robotics Pub Date : 2025-02-26 DOI: 10.1016/j.birob.2025.100228

Zhun Huang

{"title":"View planning for visual detection coverage tasks of large airplane upper surface using UAVs","authors":"Zhun Huang","doi":"10.1016/j.birob.2025.100228","DOIUrl":"10.1016/j.birob.2025.100228","url":null,"abstract":"<div><div>In order to enhance the efficiency of visual inspection and effectively carry out 3D visual coverage tasks, this paper focuses on the 3D view planning problem concerning the visual coverage of an airplane’s surface using unmanned aerial vehicles (UAV). Our objective is to attain a sufficiently high coverage rate with the least number of viewpoints. The contributions of this work are enumerated as follows. Firstly, the 3D model of the target aircraft is spatially extended in accordance with the depth range of the camera mounted on the drone, thereby confining the sampling range of 3D viewpoints. Next, a candidate set of viewpoints is generated through random sampling and the probabilistic potential field technique. Subsequently, we propose a novel hyper-heuristic algorithm. In this algorithm, a genetic algorithm serves as a high-level heuristic strategy, in tandem with multiple low-level heuristic operators devised for combinatorial optimization. This not only augments the capacity to seek the global optimal solution but also expedites the convergence rate, aiming to ascertain the optimal subset of viewpoints. Moreover, we devise a new fitness function for appraising candidate solution vectors in the set covering problem (SCP), strengthening the evolutionary guidance for genetic algorithms. Eventually, experimental findings on the simulated and real airplanes corroborate the efficacy of the proposed method, i.e., it markedly diminishes the requisite number of viewpoints and augments inspection efficiency.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 3","pages":"Article 100228"},"PeriodicalIF":0.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144490239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An improved path planning and tracking control method for planetary exploration rovers with traversable tolerance 具有可穿越公差的行星探测车的改进路径规划和跟踪控制方法

Biomimetic Intelligence and Robotics Pub Date : 2025-02-15 DOI: 10.1016/j.birob.2025.100219

Haojie Zhang, Feng Jiang, Qing Li

{"title":"An improved path planning and tracking control method for planetary exploration rovers with traversable tolerance","authors":"Haojie Zhang, Feng Jiang, Qing Li","doi":"10.1016/j.birob.2025.100219","DOIUrl":"10.1016/j.birob.2025.100219","url":null,"abstract":"<div><div>In order to ensure the safety and efficiency of planetary exploration rovers, path planning and tracking control of a planetary rover are expected to consider factors such as complex 3D terrain features, the motion constraints of the rover, traversability, etc. An improved path planning and tracking control method is proposed for planetary exploration rovers on rough terrain in this paper. Firstly, the kinematic model of the planetary rover is established. A 3D motion primitives library adapted to various terrains and the rover’s orientations is generated. The state expansion process and heuristic function of the A* algorithm are improved using the motion primitives and terrain features. Global path is generated by improved A*-based algorithm that satisfies the planetary rover’s kinematic constraints and the 3D terrain restrictions. Subsequently, an optional arc path set is designed based on the traversable capabilities of the planetary rover. Each arc path corresponds to a specific motion that determines the linear and angular velocities of the planetary rover. The optimal path is selected through the multi-objective evaluation function. The planetary rover is driven to accurately track the global path by sending optimal commands that corresponds to the optimal path for real-time obstacle avoidance. Finally, the path planning and tracking control method is effectively validated during a given mission through two simulation tests. The experiment results show that the improved A*-based algorithm reduces planning time by 30.05% and generates smoother paths than the classic A* algorithm. The multi-objective arc-based method improves the rover’s motion efficiency, ensuring safer and quicker mission completion along the global path.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100219"},"PeriodicalIF":0.0,"publicationDate":"2025-02-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143511683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bathing assistive devices and robots for the elderly 老年人沐浴辅助设备和机器人

Biomimetic Intelligence and Robotics Pub Date : 2025-02-14 DOI: 10.1016/j.birob.2025.100218

Jian Li , Yadong Mo , Shijie Jiang , Lifang Ma , Ying Zhang , Shimin Wei

{"title":"Bathing assistive devices and robots for the elderly","authors":"Jian Li , Yadong Mo , Shijie Jiang , Lifang Ma , Ying Zhang , Shimin Wei","doi":"10.1016/j.birob.2025.100218","DOIUrl":"10.1016/j.birob.2025.100218","url":null,"abstract":"<div><div>The issue of aging population has become a severe problem that restricts global development. Thus, the development of bathing robots for the elderly is of great significance for the national strategy of actively addressing population aging. However, there is a lack of systematic review and analysis for the elderly bathing aids and robots, and the trend of the future development is also unclear. Therefore, by reviewing the relevant literature, this paper systematically analyzes the technical characteristics and usage scenarios of the lying, sitting and auxiliary posture, based on the bathing methods, bathing modes, and post bath care, which can clarify the current research status of bathing aids and robots for the elderly. Meanwhile, from the perspectives of the structural design, motion control and information intelligence, the key technologies and existing problems of bathing aids and robots are elaborated, and the relevant technical system is sorted out. Finally, based on the future of technological elderly care and the elderly bathing needs, the development trend of elderly bathing aids and robots is prospected, and the reference and suggestions for its research and development is provided, which has positive research significance.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100218"},"PeriodicalIF":0.0,"publicationDate":"2025-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143520585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Automatic analysis of alarm embedded with large language model in police robot 警用机器人嵌入式大语言模型报警自动分析

Biomimetic Intelligence and Robotics Pub Date : 2025-02-14 DOI: 10.1016/j.birob.2025.100220

Zirui Liu, Haichun Sun, Deyu Yuan

{"title":"Automatic analysis of alarm embedded with large language model in police robot","authors":"Zirui Liu, Haichun Sun, Deyu Yuan","doi":"10.1016/j.birob.2025.100220","DOIUrl":"10.1016/j.birob.2025.100220","url":null,"abstract":"<div><div>Police robots are used to assist police officers in performing tasks in complex environments, so as to improve the efficiency of law enforcement, ensure the safety of police officers and maintain social stability. With the rapid development of science and technology, police robots are widely used in the field of public security, such as alarm reception, patrol, explosive disposal, reconnaissance and so on. However, police robots still have the problem of analysis deviation in the process of receiving the alarm, which leads to the low efficiency of police dispatch. This study aims to enhance the police alarm automatic analysis ability of the police robots to assist in the dispatch of police. In this paper, we propose a novel method (FSTC-LLM) for sample augmentation based on large language model and noise reduction. The experimental evaluations are carried out on the alarm data set and the THUC News data set. The results show that the proposed FSTC-LLM has excellent performance in few shot text augmentation tasks, and can assist police robots to complete the task of automatic analysis of alarm with high quality, which is of great significance to enhance public security.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 3","pages":"Article 100220"},"PeriodicalIF":0.0,"publicationDate":"2025-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144570879","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Human-in-the-loop transfer learning in collision avoidance of autonomous robots 自主机器人避碰中的人在环迁移学习

Biomimetic Intelligence and Robotics Pub Date : 2025-01-28 DOI: 10.1016/j.birob.2025.100215

Minako Oriyama , Pitoyo Hartono , Hideyuki Sawada

{"title":"Human-in-the-loop transfer learning in collision avoidance of autonomous robots","authors":"Minako Oriyama , Pitoyo Hartono , Hideyuki Sawada","doi":"10.1016/j.birob.2025.100215","DOIUrl":"10.1016/j.birob.2025.100215","url":null,"abstract":"<div><div>Neural networks have demonstrated exceptional performance across a range of applications. Yet, their training often demands substantial time and data resources, presenting a challenge for autonomous robots operating in real-world environments where real-time learning is difficult. To mitigate this constraint, we propose a novel human-in-the-loop framework that harnesses human expertise to mitigate the learning challenges of autonomous robots. Our approach centers on directly incorporating human knowledge and insights into the robot’s learning pipeline. The proposed framework incorporates a mechanism for autonomous learning from the environment via reinforcement learning, utilizing a pre-trained model that encapsulates human knowledge as its foundation. By integrating human-provided knowledge and evaluation, we aim to bridge the division between human intuition and machine learning capabilities. Through a series of collision avoidance experiments, we validated that incorporating human knowledge significantly improves both learning efficiency and generalization capabilities. This collaborative learning paradigm enables robots to utilize human common sense and domain-specific expertise, resulting in faster convergence and better performance in complex environments. This research contributes to the development of more efficient and adaptable autonomous robots and seeks to analyze how humans can effectively participate in robot learning and the effects of such participation, illuminating the intricate interplay between human cognition and artificial intelligence.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 1","pages":"Article 100215"},"PeriodicalIF":0.0,"publicationDate":"2025-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143387975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

SoftGrasp: Adaptive grasping for dexterous hand based on multimodal imitation learning SoftGrasp：基于多模态模仿学习的灵巧手自适应抓取

Biomimetic Intelligence and Robotics Pub Date : 2025-01-28 DOI: 10.1016/j.birob.2025.100217

Yihong Li, Ce Guo, Junkai Ren, Bailiang Chen, Chuang Cheng, Hui Zhang, Huimin Lu

{"title":"SoftGrasp: Adaptive grasping for dexterous hand based on multimodal imitation learning","authors":"Yihong Li, Ce Guo, Junkai Ren, Bailiang Chen, Chuang Cheng, Hui Zhang, Huimin Lu","doi":"10.1016/j.birob.2025.100217","DOIUrl":"10.1016/j.birob.2025.100217","url":null,"abstract":"<div><div>Biomimetic grasping is crucial for robots to interact with the environment and perform complex tasks, making it a key focus in robotics and embodied intelligence. However, achieving human-level finger coordination and force control remains challenging due to the need for multimodal perception, including visual, kinesthetic, and tactile feedback. Although some recent approaches have demonstrated remarkable performance in grasping diverse objects, they often rely on expensive tactile sensors or are restricted to rigid objects. To address these challenges, we introduce SoftGrasp, a novel multimodal imitation learning approach for adaptive, multi-stage grasping of objects with varying sizes, shapes, and hardness. First, we develop an immersive demonstration platform with force feedback to collect rich, human-like grasping datasets. Inspired by human proprioceptive manipulation, this platform gathers multimodal signals, including visual images, robot finger joint angles, and joint torques, during demonstrations. Next, we utilize a multi-head attention mechanism to align and integrate multimodal features, dynamically allocating attention to ensure comprehensive learning. On this basis, we design a behavior cloning method based on an angle-torque loss function, enabling multimodal imitation learning. Finally, we validate SoftGrasp in extensive experiments across various scenarios, demonstrating its ability to adaptively adjust joint forces and finger angles based on real-time inputs. These capabilities result in a 98% success rate in real-world experiments, achieving dexterous and stable grasping. Source code and demonstration videos are available at <span><span>https://github.com/nubot-nudt/SoftGrasp</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 2","pages":"Article 100217"},"PeriodicalIF":0.0,"publicationDate":"2025-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143509111","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0