IEEE Robotics and Automation Letters最新文献

Efficient and Scalable Tuning of Continuous Impedance Control for Powered Knee Prostheses. 动力膝关节假体连续阻抗控制的高效可伸缩调谐。

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-04-01 Epub Date: 2026-02-27 DOI: 10.1109/lra.2026.3668449

Woolim Hong, Amirreza Naseri, He Helen Huang

{"title":"Efficient and Scalable Tuning of Continuous Impedance Control for Powered Knee Prostheses.","authors":"Woolim Hong, Amirreza Naseri, He Helen Huang","doi":"10.1109/lra.2026.3668449","DOIUrl":"https://doi.org/10.1109/lra.2026.3668449","url":null,"abstract":"Powered knee prostheses based on continuous impedance control enable smooth and human-like joint behavior; however, practical tuning remains challenging due to the high dimensionality of impedance functions and subject-dependent variability. In this work, we propose a structured low-dimensional tuning framework in which continuous stiffness, damping, and equilibrium-angle functions are first identified offline from able-bodied walking data using kinematics-informed convex optimization and then parameterized through principal component analysis (PCA). The resulting PC weights serve as interpretable tuning variables, enabling systematic and scalable adjustment of prosthetic knee behavior. Sensitivity analysis revealed that stiffness-related parameters exert the strongest and most consistent influence on knee kinematics, motivating their prioritization during tuning. The framework was experimentally validated through treadmill walking trials involving able-bodied individuals and an amputee participant by adjusting stiffness-related PC weights to achieve multiple predefined target knee profiles. Results demonstrate that diverse target behaviors can be reliably achieved using structured low-dimensional tuning. This study establishes PCA-based parameterization as an effective strategy for simplifying continuous impedance tuning and provides a principled foundation for personalized prosthetic control, in which target behaviors may be defined through user feedback, clinician input, or adaptive learning.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 4","pages":"5017-5024"},"PeriodicalIF":5.3,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC13099080/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147770137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Closed-loop Control of Steerable Balloon Endoscopes for Robot-assisted Transcatheter Intracardiac Procedures. 机器人辅助心内导管手术中可操纵球囊内窥镜的闭环控制。

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-04-01 Epub Date: 2026-02-13 DOI: 10.1109/lra.2026.3664592

Max McCandless, Jonathan Hamid, Sammy Elmariah, Nathaniel Langer, Pierre E Dupont

{"title":"Closed-loop Control of Steerable Balloon Endoscopes for Robot-assisted Transcatheter Intracardiac Procedures.","authors":"Max McCandless, Jonathan Hamid, Sammy Elmariah, Nathaniel Langer, Pierre E Dupont","doi":"10.1109/lra.2026.3664592","DOIUrl":"10.1109/lra.2026.3664592","url":null,"abstract":"To move away from open-heart surgery towards safer transcatheter procedures, there is a growing need for improved imaging techniques and robotic solutions to enable simple, accurate tool navigation. Common imaging modalities, such as fluoroscopy and ultrasound, have limitations that can be overcome using cardioscopy, i.e., direct optical visualization inside the beating heart. We present a cardioscope designed as a steerable balloon. As a balloon, it can be collapsed to pass through the vasculature and subsequently inflated inside the heart for visualization and tool delivery through an integrated working channel. Through careful design of balloon wall thickness, a single input, balloon inflation pressure, is used to sequentially independently control two outputs, balloon diameter (corresponding to field of view diameter) and balloon bending angle (enabling precise working channel positioning). This balloon technology can be tuned to produce cardioscopes designed for a range of intracardiac tasks. To illustrate this approach, a balloon design is presented for the specific task of aortic leaflet laceration. Image-based closed-loop control of bending angle is also demonstrated as a means of enabling stable orientation control during tool insertion and removal.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 4","pages":"4211-4218"},"PeriodicalIF":5.3,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12994373/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147480592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic-ICP: Doppler-Aware Iterative Closest Point Registration for Dynamic Scenes 动态icp：动态场景的多普勒感知迭代最近点配准

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-03-03 DOI: 10.1109/LRA.2026.3669808

Dong Wang;Daniel Casado Herraez;Stefan May;Andreas Nüchter

{"title":"Dynamic-ICP: Doppler-Aware Iterative Closest Point Registration for Dynamic Scenes","authors":"Dong Wang;Daniel Casado Herraez;Stefan May;Andreas Nüchter","doi":"10.1109/LRA.2026.3669808","DOIUrl":"https://doi.org/10.1109/LRA.2026.3669808","url":null,"abstract":"Reliable odometry in highly dynamic environments remains challenging when it relies on ICP-based registration: ICP assumes near-static scenes and degrades in repetitive or low-texture geometry. We introduce Dynamic-ICP, a Doppler-aware registration framework. The method (i) estimates ego translational velocity from per-point Doppler velocity via robust regression and builds a velocity filter, (ii) clusters dynamic objects and reconstructs object-wise translational velocities from ego-compensated radial measurements, (iii) predicts dynamic points with a constant-velocity model, and (iv) aligns scans using a compact objective that combines point-to-plane geometry residual with a translation-invariant, rotation-only Doppler residual. The approach requires no external sensors or sensor–vehicle calibration and operates directly on FMCW LiDAR range and Doppler velocities. We evaluate Dynamic-ICP on three real-world datasets-HeRCULES, HeLiPR, AevaScenes-focusing on highly dynamic scenes. Dynamic-ICP consistently improves rotational stability and translation accuracy over the state-of-the-art methods.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 4","pages":"5174-5181"},"PeriodicalIF":5.3,"publicationDate":"2026-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11419773","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147440656","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Valve-Less Electro-Hydrostatic Powered Prosthetic Foot to Improve the Power Efficiency During Walking 一种无阀电-静压动力假肢足提高行走时的动力效率

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-03-02 DOI: 10.1109/LRA.2026.3668985

Bowen Li;Xin Li;Hongguang Xu;Qitao Huang

{"title":"A Valve-Less Electro-Hydrostatic Powered Prosthetic Foot to Improve the Power Efficiency During Walking","authors":"Bowen Li;Xin Li;Hongguang Xu;Qitao Huang","doi":"10.1109/LRA.2026.3668985","DOIUrl":"https://doi.org/10.1109/LRA.2026.3668985","url":null,"abstract":"Hydraulic systems have been widely applied in lower-limb prostheses, primarily for their compact actuation and inherent damping capability. However, when applied to powered prosthetic feet, valves and other damping elements cause unavoidable energy dissipation, thereby constraining their power density. To address this limitation, we propose a valve-less electro-hydrostatic powered prosthetic foot aimed at enhancing power efficiency. In addition, a gas accumulator’s nonlinear elasticity is considered, forming a hydraulic series elastic actuator with passive stiffness comparable to the human ankle during walking. This configuration lowers the motor’s required speed, consequently reducing its actual electrical power. The proposed design was evaluated through a treadmill walking experiment with a non-impaired subject walking at 1.1 m/s. The results showed that the prosthetic foot provided sufficient positive power relative to human reference values. Moreover, the prosthesis achieved a peak output power of 206.3 <inline-formula><tex-math>$pm$</tex-math></inline-formula> 15.0 W, while the corresponding motor electrical power was only 147.5 <inline-formula><tex-math>$pm$</tex-math></inline-formula> 29.5 W. Our study demonstrates that the electro-hydrostatic system holds significant potential for enhancing the power density of powered prosthetic feet.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 4","pages":"4833-4840"},"PeriodicalIF":5.3,"publicationDate":"2026-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147362457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

ThermoAct: Thermal-Aware Vision-Language-Action Models for Robotic Perception and Decision-Making 热行为：机器人感知和决策的热感知视觉-语言-行动模型

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-03-01 Epub Date: 2026-03-26 DOI: 10.1109/LRA.2026.3678130

Young-Chae Son;Dae-Kwan Ko;Yoon-Ji Choi;Soo-Chul Lim

{"title":"ThermoAct: Thermal-Aware Vision-Language-Action Models for Robotic Perception and Decision-Making","authors":"Young-Chae Son;Dae-Kwan Ko;Yoon-Ji Choi;Soo-Chul Lim","doi":"10.1109/LRA.2026.3678130","DOIUrl":"https://doi.org/10.1109/LRA.2026.3678130","url":null,"abstract":"In recent human-robot collaboration environments, there is a growing focus on integrating diverse sensor data beyond visual information to enable safer and more intelligent task execution. Although thermal data can be crucial for enhancing robot safety and operational efficiency, its integration has been relatively overlooked in prior research. This letter proposes a novel Vision-Language-Action (VLA) framework that incorporates thermal information for robot task execution. The proposed system leverages a Vision-Language Model (VLM) as a high-level planner to interpret complex natural language commands and decompose them into simpler sub-tasks. This approach facilitates efficient data collection and robust reasoning for complex operations. Unlike conventional methods that rely solely on visual data, our approach integrates thermal information, enabling the robot to perceive physical properties and proactively ensure environmental safety. Experimental results from real-world task scenarios validate the feasibility of our proposed framework, suggesting its potential to enhance task success rates and safety compared to existing vision-based systems.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 5","pages":"6106-6113"},"PeriodicalIF":5.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147606160","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Data Scaling for Navigation in Unknown Environments 未知环境下导航的数据缩放

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-03-01 Epub Date: 2026-03-25 DOI: 10.1109/LRA.2026.3677718

Lauri Suomela;Naoki Takahata;Sasanka Kuruppu Arachchige;Harry Edelman;Joni-Kristian Kämäräinen

{"title":"Data Scaling for Navigation in Unknown Environments","authors":"Lauri Suomela;Naoki Takahata;Sasanka Kuruppu Arachchige;Harry Edelman;Joni-Kristian Kämäräinen","doi":"10.1109/LRA.2026.3677718","DOIUrl":"https://doi.org/10.1109/LRA.2026.3677718","url":null,"abstract":"Generalization of imitation-learned navigation policies to environments unseen in training remains a major challenge. We address this by conducting the first large-scale study of how data quantity and data diversity affect real-world generalization in end-to-end, map-free visual navigation. Using a curated 4,565-hour crowd-sourced dataset collected across 161 locations in 35 countries, we train policies for point goal navigation and evaluate their closed-loop control performance on sidewalk robots operating in four countries, covering 125 km of autonomous driving. Our results show that large-scale training data enables zero-shot navigation in unknown environments, approaching the performance of policies trained with environment-specific demonstrations. Critically, we find that data diversity is far more important than data quantity. Doubling the number of geographical locations in a training set decreases navigation errors by <inline-formula><tex-math>$sim 15%$</tex-math></inline-formula>, while performance benefit from adding data from existing locations saturates with very little data. We also observe that, with noisy crowd-sourced data, simple regression-based models outperform generative and sequence-based architectures.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 5","pages":"6114-6121"},"PeriodicalIF":5.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11456354","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147606241","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Guided Multi-Fidelity Bayesian Optimization for Data-driven Controller Tuning with Digital Twins 引导多保真贝叶斯优化与数字孪生数据驱动控制器调谐

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-03-01 Epub Date: 2026-03-09 DOI: 10.1109/LRA.2026.3671557

Mahdi Nobar;Jürg Keller;Alessandro Forino;John Lygeros;Alisa Rupenyan

引用次数: 0

Interactive Learning via Physical Human Feedback Using Uncertainty-Aware Energy Tanks 利用不确定性感知能量罐通过物理人类反馈进行互动学习

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-03-01 Epub Date: 2026-03-09 DOI: 10.1109/LRA.2026.3671561

Edoardo Fiorini;Markus Knauer;Thomas Eiband;Maged Iskandar;João Silvério

{"title":"Interactive Learning via Physical Human Feedback Using Uncertainty-Aware Energy Tanks","authors":"Edoardo Fiorini;Markus Knauer;Thomas Eiband;Maged Iskandar;João Silvério","doi":"10.1109/LRA.2026.3671561","DOIUrl":"https://doi.org/10.1109/LRA.2026.3671561","url":null,"abstract":"Learning from demonstration (LfD) offers an intuitive alternative to manual coding by leveraging natural human behavior, while Human-Robot Interaction (HRI) provides an intuitive means to refine and adapt learned skills. Among interaction modalities, physical contact is a natural and effective way to convey intent. In order to leverage such modality, robots need to be able to distinguish physical contacts coming from deliberate human interactions (e.g. to correct a learned skill) from those from environmental factors (e.g. task-related). In this letter, we introduce a novel interactive framework for physically modulating learned robot skills. Our method builds on a state-of-the-art energy-tank-based intention detection approach to capture degree-of-freedom(DoF)-specific modulations and, accordingly, incorporate user-defined via-points into the learned skills. In contrast to common approaches, corrections are applied selectively to the relevant DoFs, preserving the original skill behavior in the remaining dimensions. Moreover, we leverage uncertainty in the demonstration data to modulate the tank dynamics, allowing users more or less time to intervene in regions of different uncertainty. We validate our approach on a torque-controlled 7-DoF robot executing a learned task of inserting a bearing ring, where physical human corrections are used to adapt to changes in the environment.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 5","pages":"5366-5373"},"PeriodicalIF":5.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147557405","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Collaborative Optimization Framework of Interactive Motion Planning and Emergency Protection Control for Human-Robot Interaction 人机交互交互运动规划与应急保护控制协同优化框架

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-03-01 Epub Date: 2026-03-06 DOI: 10.1109/LRA.2026.3671537

Xiaohua Zeng;Chaosheng Duan;Qifeng Qian;Dafeng Song;Xuanmian Zhang

{"title":"Collaborative Optimization Framework of Interactive Motion Planning and Emergency Protection Control for Human-Robot Interaction","authors":"Xiaohua Zeng;Chaosheng Duan;Qifeng Qian;Dafeng Song;Xuanmian Zhang","doi":"10.1109/LRA.2026.3671537","DOIUrl":"https://doi.org/10.1109/LRA.2026.3671537","url":null,"abstract":"Due to the uncertainty of human driving behavior, an autonomous vehicle (AV) may activate its emergency protection policy frequently and unnecessarily when interacting with human drivers, degrading driving efficiency. To address this issue, this paper proposes an optimization framework that coordinates nominal motion planning and emergency protection control, using stochastic model predictive control and a sparse scenario tree to anticipate future collision events. By explicitly considering future safety risks, AV's planner can reduce unnecessary emergency interventions and achieve a balance between safety and performance. The proposed framework integrates backward reachability analysis to precompute the set of unsafe states, and employs recursive Bayesian estimation with a Boltzmann noise-rational human model to predict driver behavior. Simulations demonstrate that the proposed control reduces control costs by 13.1% and improves efficiency by 63.4% compared to baseline methods. Moreover, the interactive experiment platform based on two minicars demonstrates that the proposed method is effective in real-time environments.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 5","pages":"5390-5397"},"PeriodicalIF":5.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147557459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Loop Closure From Two Views: Revisiting PGO for Scalable Trajectory Estimation Through Monocular Priors 从两个角度看闭环：通过单目先验重新审视可扩展轨迹估计的PGO

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2026-03-01 Epub Date: 2026-03-09 DOI: 10.1109/LRA.2026.3671555

Tian Yi Lim;Boyang Sun;Marc Pollefeys;Hermann Blum

{"title":"Loop Closure From Two Views: Revisiting PGO for Scalable Trajectory Estimation Through Monocular Priors","authors":"Tian Yi Lim;Boyang Sun;Marc Pollefeys;Hermann Blum","doi":"10.1109/LRA.2026.3671555","DOIUrl":"https://doi.org/10.1109/LRA.2026.3671555","url":null,"abstract":"(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency and accuracy, particularly in large-scale settings where extensive computational resources are required for scene reconstruction and Bundle Adjustment (BA). However, this scene reconstruction, in the form of sparse pointclouds of visual landmarks, is often only used within the SLAM system because navigation and planning methods require different map representations. In this work, we therefore investigate a more scalable Visual SLAM (VSLAM) approach without reconstruction, mainly based on approaches for two-view loop closures. By restricting the map to a sparse keyframed pose graph without dense geometry representations, our ‘2GO’ system achieves efficient optimization with competitive absolute trajectory accuracy. In particular, we find that recent advancements in image matching and monocular depth priors enable very accurate trajectory optimization without BA. We conduct extensive experiments on diverse datasets, including large-scale scenarios, and provide a detailed analysis of the trade-offs between runtime, accuracy, and map size. Our results demonstrate that this streamlined approach supports real-time performance, scales well in map size and trajectory duration, and effectively broadens the capabilities of VSLAM for long-duration deployments to large environments.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"11 5","pages":"5326-5333"},"PeriodicalIF":5.3,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147557490","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0