Biomimetic Intelligence and Robotics最新文献_第3页

Acoustic-enhanced local bearing estimation using low-cost microphones for Micro Air Vehicle swarms 基于低成本麦克风的微型飞行器群声学增强局部方位估计

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-09-10 DOI: 10.1016/j.birob.2025.100264

Aohua Li, Ye Zhou, Weijie Kuang, Hann Woei Ho

{"title":"Acoustic-enhanced local bearing estimation using low-cost microphones for Micro Air Vehicle swarms","authors":"Aohua Li, Ye Zhou, Weijie Kuang, Hann Woei Ho","doi":"10.1016/j.birob.2025.100264","DOIUrl":"10.1016/j.birob.2025.100264","url":null,"abstract":"<div><div>Micro Air Vehicle (MAV) swarms are often constrained by limited onboard processing capabilities and payload capacity, restricting the use of sophisticated localization systems. Lightweight ultra-wideband (UWB) ranging techniques are commonly used to estimate inter-vehicle distances, but they do not provide local bearing information—essential for precise relative positioning. Inspired by bat echolocation in low-visibility environments, we propose an acoustic-enhanced method for local bearing estimation designed for low-cost MAVs. Our approach leverages ambient acoustic signals naturally emitted by a target MAV in flight, combined with UWB distance measurements. The acoustic data is processed using the Frequency-Sliding Generalized Cross-Correlation (FS-GCC) method, enhanced with our analytical formulation that compensates for inter-channel switching delays in asynchronous, high-frequency sampling. This enables accurate Time Difference of Arrival (TDOA) estimation, even with compact microphone arrays. These TDOA values, along with known microphone geometry and UWB data, are integrated into our geometric model to estimate the bearing of the target MAV. We validate our approach in a controlled indoor hall across two experimental scenarios: static-bearing estimation, where the target MAV hovers at predefined angular positions (0°, ±30°, ±45°, ±60°), and dynamic-bearing estimation, where it flies across angles at varying velocities. The results show that our method yields reliable TDOA measurements compared to classical and machine learning baselines, and produces accurate bearing estimates in both static and dynamic settings. This demonstrates the feasibility of our low-cost acoustic-enhanced solution for local bearing estimation in MAV swarms, supporting improved relative navigation and decentralized perception in GPS-denied or visually degraded environments.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 4","pages":"Article 100264"},"PeriodicalIF":5.4,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416754","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

Communication-aided multi-UAV collision detection and avoidance based on two-stage curriculum reinforcement learning 基于两阶段课程强化学习的通信辅助多无人机碰撞检测与避碰

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-07-25 DOI: 10.1016/j.birob.2025.100253

Guanzheng Wang , Xiangke Wang , Zhiqiang Miao , Zhihong Liu , Xinyu Hu

{"title":"Communication-aided multi-UAV collision detection and avoidance based on two-stage curriculum reinforcement learning","authors":"Guanzheng Wang , Xiangke Wang , Zhiqiang Miao , Zhihong Liu , Xinyu Hu","doi":"10.1016/j.birob.2025.100253","DOIUrl":"10.1016/j.birob.2025.100253","url":null,"abstract":"<div><div>Currently, multi-UAV collision detection and avoidance is facing many challenges, such as navigating in cluttered environments with dynamic obstacles while equipped with low-cost perception devices having a limited field of view (FOV). To this end, we propose a communication-aided collision detection and avoidance method based on curriculum reinforcement learning (CRL). This method integrates perception and communication data to improve environmental understanding, allowing UAVs to handle potential collisions that may go unnoticed. Furthermore, given the challenges in policy learning caused by the substantial differences in scale between perception and communication data, we employ a two-stage training approach, which performs training with the network expanded from part to whole. In the first stage, we train a partial policy network in an obstacle-free environment for inter-UAV collision avoidance. In the second stage, the full network is trained in a complex environment with obstacles, enabling both inter-UAV collision avoidance and obstacle avoidance. Experiments with PX4 software-in-the-loop (SITL) simulations and real flights demonstrate that our method outperforms state-of-the-art baselines in terms of reliability of collision avoidance, including the DRL-based method and NH-ORCA (Non-Holonomic Optimal Reciprocal Collision Avoidance). Besides, the proposed method achieves zero-shot transfer from simulation to real-world environments that were never experienced during training.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 4","pages":"Article 100253"},"PeriodicalIF":5.4,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416757","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

Beyond performance: Explaining generalisation failures of Robotic Foundation Models in industrial simulation 超越性能：解释工业仿真中机器人基础模型的泛化失败

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-07-09 DOI: 10.1016/j.birob.2025.100249

David Kube , Simon Hadwiger , Tobias Meisen

{"title":"Beyond performance: Explaining generalisation failures of Robotic Foundation Models in industrial simulation","authors":"David Kube , Simon Hadwiger , Tobias Meisen","doi":"10.1016/j.birob.2025.100249","DOIUrl":"10.1016/j.birob.2025.100249","url":null,"abstract":"<div><div>This study investigates the generalisation and explainability challenges of Robotic Foundation Models (RFMs) in industrial applications, using Octo as a representative case study. Motivated by the scarcity of domain-specific data and the need for safe evaluation environments, we adopt a simulation-first approach: instead of transitioning from simulation to real-world scenarios, we aim to adapt real-world-trained RFMs to synthetic, simulated environments — a critical step towards their safe and effective industrial deployment. While Octo promises zero-shot generalisation, our experiments reveal significant performance degradation when applied in simulation, despite minimal task and observation domain shifts. To explain this behaviour, we introduce a modified Grad-CAM technique that enables insight into Octo’s internal reasoning and focus areas. Our results highlight key limitations in Octo’s visual generalisation and language grounding capabilities under distribution shifts. We further identify architectural and benchmarking challenges across the broader RFM landscape. Based on our findings, we propose concrete guidelines for future RFM development, with an emphasis on explainability, modularity, and robust benchmarking — critical enablers for applying RFMs in safety-critical and data-scarce industrial environments.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 4","pages":"Article 100249"},"PeriodicalIF":5.4,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362140","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

Tendon friction compensation and slack avoidance for trajectory tracking control of the tendon-driven medical continuum manipulator 肌腱驱动医疗连续体机械臂轨迹跟踪控制的肌腱摩擦补偿与松弛避免

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-04-23 DOI: 10.1016/j.birob.2025.100234

Pengyu Du , Jianxiong Hao , Kun Qian , Yue Zhang , Zhiqiang Zhang , Chaoyang Shi

{"title":"Tendon friction compensation and slack avoidance for trajectory tracking control of the tendon-driven medical continuum manipulator","authors":"Pengyu Du , Jianxiong Hao , Kun Qian , Yue Zhang , Zhiqiang Zhang , Chaoyang Shi","doi":"10.1016/j.birob.2025.100234","DOIUrl":"10.1016/j.birob.2025.100234","url":null,"abstract":"<div><div>Tendon-driven continuum manipulators can perform tasks in confined environments due to their flexibility and curvilinearity, especially in minimally invasive surgeries. However, the friction along tendons and tendon slack present challenges to their motion control. This work proposes a trajectory tracking controller based on adaptive fuzzy sliding mode control (AFSMC) for the tendon-driven continuum manipulators. It consists of a sliding mode control (SMC) law with two groups of adaptive fuzzy subcontrollers. The first one is utilized to estimate and compensate for friction forces along tendons. The second one adapts the switching terms of SMC to alleviate the chattering phenomenon and enhance control robustness. To prevent tendon slack, an antagonistic strategy along with the AFSMC controller is adopted to allocate driving forces. Simulation and experiment studies have been conducted to investigate the efficacy of the proposed controller. In free space experiments, the AFSMC controller generates an average root-mean-square error (RMSE) of 0.42% compared with 0.90% of the SMC controller. In the case of a 50 g load, the proposed controller reduces the average RMSE to 1.47% compared with 4.29% of the SMC controller. These experimental results demonstrate that the proposed AFSMC controller has high control accuracy, robustness, and reduced chattering.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 4","pages":"Article 100234"},"PeriodicalIF":5.4,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144926625","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

A novel underactuated exoskeleton rehabilitation glove for hand flexion and extension training 一种用于手部屈伸训练的新型欠驱动外骨骼康复手套

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-07-01 DOI: 10.1016/j.birob.2025.100248

Lei Zhao , Fenghe Guo , Fei Yang , Chao Li , Yufei Zhao , Jing Qu , Kun Li , Yan Liu , Lili Wang , Lingguo Bu

{"title":"A novel underactuated exoskeleton rehabilitation glove for hand flexion and extension training","authors":"Lei Zhao , Fenghe Guo , Fei Yang , Chao Li , Yufei Zhao , Jing Qu , Kun Li , Yan Liu , Lili Wang , Lingguo Bu","doi":"10.1016/j.birob.2025.100248","DOIUrl":"10.1016/j.birob.2025.100248","url":null,"abstract":"<div><div>In recent years, the number of stroke patients worldwide has been steadily increasing, with approximately 70% of survivors experiencing upper limb dysfunction, particularly severe impairment of fine motor skills in the hand. This limitation significantly reduces patients’ ability to perform daily activities and increases the burden on both families and society. Existing hand rehabilitation exoskeletons suffer from issues such as complex structures, high production and usage costs, and limited application scenarios. This paper presents a flexible and portable hand rehabilitation robotic device based on the anatomical structure and movement characteristics of the human hand. First, a flexible exoskeleton glove based on underactuation is designed to accommodate various finger sizes. The portable device allows for rehabilitation in both hospital and home environments. Second, Adams simulation is used to verify the structural feasibility of the designed exoskeleton. Finally, device testing is performed on subjects to assess the assistive performance and motor dexterity of the hand exoskeleton using joint angle similarity tests, object grasping experiments, and force distribution tests. The experimental results show that the hand exoskeleton prototype can assist finger joints in achieving significant flexion and extension movements. Moreover, by adjusting the driving forces at each joint, it can stabilize the grasping of objects with different sizes, providing a high level of motion assistance in daily object grasping and finger joint movements. This study offers a practical and feasible technological path to reduce disability rates and improve the quality of life for patients with hand dysfunction following a stroke.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 4","pages":"Article 100248"},"PeriodicalIF":5.4,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416755","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

Design and dynamics modeling of a hybrid drive bionic robotic fish 混合驱动仿生机器鱼的设计与动力学建模

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-06-25 DOI: 10.1016/j.birob.2025.100247

Haoyu Huang, Shuai Xian, Chengye Xiong, Weihua Li, Yong Zhong

{"title":"Design and dynamics modeling of a hybrid drive bionic robotic fish","authors":"Haoyu Huang, Shuai Xian, Chengye Xiong, Weihua Li, Yong Zhong","doi":"10.1016/j.birob.2025.100247","DOIUrl":"10.1016/j.birob.2025.100247","url":null,"abstract":"<div><div>While recent advancements in hybrid propulsion systems for bionic robotic fish—combining biomimetic mechanisms with classical vector thrusters—demonstrate enhanced locomotion capabilities and application potential, challenges remain in modeling the coupled dynamics of heterogeneous propulsion mechanisms. This paper presents a hybrid-drive robotic fish architecture that synergistically integrates pectoral-fin-mounted propellers with a caudal-fin-based propulsion system. A three-dimensional dynamical model is developed to characterize the coupled interactions between the dual propulsion modes, incorporating a hydrodynamic computation framework that accounts for propeller wake effects on caudal fin performance. Systematic experimental validation confirms the model’s fidelity through quantitative analysis of swimming performance metrics, including cruising speed, turning radius, and trajectory tracking. The results show that the proposed hybrid propulsion strategy can effectively improve the swimming performance of the robotic fish, and the model can effectively predict the motions such as speed, turning diameter, and trajectory of the robotic fish, which provides a new idea for the development of bionic robotic fish.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 4","pages":"Article 100247"},"PeriodicalIF":5.4,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416759","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 adaptive compensation strategy for sensors based on the degree of degradation 基于退化程度的传感器自适应补偿策略

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-04-30 DOI: 10.1016/j.birob.2025.100235

Yanbin Li , Wei Zhang , Zhiguo Zhang , Xiaogang Shi , Ziruo Li , Mingming Zhang , Wenzheng Chi

{"title":"An adaptive compensation strategy for sensors based on the degree of degradation","authors":"Yanbin Li , Wei Zhang , Zhiguo Zhang , Xiaogang Shi , Ziruo Li , Mingming Zhang , Wenzheng Chi","doi":"10.1016/j.birob.2025.100235","DOIUrl":"10.1016/j.birob.2025.100235","url":null,"abstract":"<div><div>Simultaneous Localization and Mapping (SLAM) is widely used to solve the localization problem of unmanned devices such as robots. However, in degraded environments, the accuracy of SLAM is greatly reduced due to the lack of constrained features. In this article, we propose a deep learning-based adaptive compensation strategy for sensors. First, we create a dataset dedicated to training a degradation detection model, which contains coordinate data of particle swarms with different distributional features, and endow the model with degradation detection capability through supervised learning. Second, we design a lightweight network model with short computation time and good accuracy for real-time degradation detection tasks. Finally, an adaptive compensation strategy for sensors based on the degree of degradation is designed, where the SLAM is able to assign different weights to the sensor information according to the degree of degradation given by the model, to adjust the contribution of different sensors in the pose optimization process. We demonstrate through simulation experiments and real experiments that the robustness of the improved SLAM in degraded environments is significantly enhanced, and the accuracy of localization and mapping are improved.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 4","pages":"Article 100235"},"PeriodicalIF":5.4,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145266328","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

Automated tumor localization via synergistic liver surface and vascular constraints deformation 通过协同肝表面和血管约束变形自动定位肿瘤

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-08-26 DOI: 10.1016/j.birob.2025.100257

Mingchao Deng , Ding Sun , Tiancheng Zhou , Yixin Gu , Zhongliang Jiang , Fengfeng Zhang , Lining Sun , Bo Lu

{"title":"Automated tumor localization via synergistic liver surface and vascular constraints deformation","authors":"Mingchao Deng , Ding Sun , Tiancheng Zhou , Yixin Gu , Zhongliang Jiang , Fengfeng Zhang , Lining Sun , Bo Lu","doi":"10.1016/j.birob.2025.100257","DOIUrl":"10.1016/j.birob.2025.100257","url":null,"abstract":"<div><div>Open tumor resection is one of the most commonly used treatments for malignant liver tumors. The ability to accurately locate the liver tumor during the operation is the key to the success of the operation. Intraoperative liver tumor localization remains challenging due to tissue deformation and intraoperative imaging limitations. This paper proposes a dual-constraint framework that synergistically integrates liver surface deformation and vascular biomechanical modeling to resolve this problem. Liver surface registration captures global deformation using a fast finite-element model (18s), while vascular topology matching refines internal tumor displacement by enforcing correspondence between preoperative and intraoperative vessel trees. This synergistic strategy leverages both external and internal anatomical cues to achieve robust localization. Evaluated on 13 clinical cases, our method achieved sub-millimeter tumor localization accuracy (1.68  <span><math><mo>±</mo></math></span>\u0000 0.26 mm; LTBV: 2.23 <!-->0.31 mm), our approach reduced error by 24%–37% without increasing runtime. This clinically efficient method shows promise for improving intraoperative guidance during liver tumor ablation.</div></div>","PeriodicalId":100184,"journal":{"name":"Biomimetic Intelligence and Robotics","volume":"5 4","pages":"Article 100257"},"PeriodicalIF":5.4,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416758","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

Tracking control for Pneumatic muscle actuators with unknown dynamics and output constraints 具有未知动力学和输出约束的气动肌肉执行器跟踪控制

IF 5.4

Biomimetic Intelligence and Robotics Pub Date : 2025-12-01 Epub Date: 2025-07-22 DOI: 10.1016/j.birob.2025.100252

Xingchen Li , Xifeng Gao

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 : 2025-09-01 Epub 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