IEEE Robotics and Automation Letters最新文献

Uncertain Pushing Adaptive Coordinated Control for the Human-Exoskeleton-Walker System 人-外骨骼-行走系统的不确定推力自适应协调控制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-02 DOI: 10.1109/LRA.2025.3575309

Xinhao Zhang;Chen Yang;Jingting Zhang;Chaobin Zou;Guangkui Song;Rui Huang;Muhammad Umar Farooq;Hong Cheng

{"title":"Uncertain Pushing Adaptive Coordinated Control for the Human-Exoskeleton-Walker System","authors":"Xinhao Zhang;Chen Yang;Jingting Zhang;Chaobin Zou;Guangkui Song;Rui Huang;Muhammad Umar Farooq;Hong Cheng","doi":"10.1109/LRA.2025.3575309","DOIUrl":"https://doi.org/10.1109/LRA.2025.3575309","url":null,"abstract":"Lower Limb Exoskeletons are potential in the gait training for patients with gait disorders. For patients in the early rehabilitation stages with weak upper limb strength, it is challenge to keep balance by themselves only. A mobile robotic walker is helpful to maintain the walking balance, with the help of a physician pushing behind to keep a forward walking associated with the exoskeleton. However, since the gait patterns are varying with different training tasks, how to ensure a coordinated movement between the exoskeleton and the mobile robotic walker is challenge, especially with the uncertain pushing applied by the physician. In this letter, the Uncertain Pushing Adaptive Coordinated Control (UP-ACC) approach is proposed to solve the problem, which consists of two contributions. Based on the decoupled simplified dynamics, the center of mass trajectories and footstep placements are generated through linear model predictive control. In addition, the optimal footstep placement is used for the human-like gait planning by introducing the phases of heel-strike and toe-off. The proposed method has been verified in the robot simulation platform CoppeliaSim, and the experimental results indicate its effectiveness in generating coordinated motion and human-like gait patterns for the human-exoskeleton-walker system with the external pushing from 0 to 150 N and walking speed from 0.2 m/s to 0.6 m/s.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 7","pages":"7086-7093"},"PeriodicalIF":4.6,"publicationDate":"2025-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144243774","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

Real-Time Geometric-Registration-Based Precision Localization for Autonomous Docking in Unstructured Factory Environment 基于几何配准的非结构化工厂环境下自主对接实时精确定位

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-02 DOI: 10.1109/LRA.2025.3575646

Sebastian Fernando Chinchilla Gutierrez;Manaru Watanabe;Masahiro Ooyama;Takayuki Yamada;Tomoaki Yamada;Naoto Toshiki;Satsuki Yamane;Jose Victorio Salazar Luces;Ankit A. Ravankar;Yasuhisa Hirata

{"title":"Real-Time Geometric-Registration-Based Precision Localization for Autonomous Docking in Unstructured Factory Environment","authors":"Sebastian Fernando Chinchilla Gutierrez;Manaru Watanabe;Masahiro Ooyama;Takayuki Yamada;Tomoaki Yamada;Naoto Toshiki;Satsuki Yamane;Jose Victorio Salazar Luces;Ankit A. Ravankar;Yasuhisa Hirata","doi":"10.1109/LRA.2025.3575646","DOIUrl":"https://doi.org/10.1109/LRA.2025.3575646","url":null,"abstract":"In factory distribution processes, autonomous mobile robots must dock precisely at base stations. However, this task is challenging due to the dynamic and unstructured nature of factory environments, as well as the sparse point clouds caused by sensor occlusions and distance limitations. To address these challenges, we propose a geometric registration approach designed to handle sparse point clouds in changing, unstructured settings. Our method utilizes the Hough transform to detect lines, describes the point cloud based on the relationships between these lines, filters out lines that do not correspond to the geometric features of the target base station, and estimates the pose of both the station and the robot using global registration techniques. We evaluated our system in four typical factory scenarios across 72 trials. Results show the robot achieved docking accuracy within <inline-formula><tex-math>$pm$</tex-math></inline-formula>5.06 mm and <inline-formula><tex-math>$pm 1.11^{circ }$</tex-math></inline-formula>, with a 100% success rate in docking and correctly identifying the target cart from surrounding objects. This represents a 70% reduction in errors and an 86% increase in success rate compared to existing methods.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 7","pages":"7198-7205"},"PeriodicalIF":4.6,"publicationDate":"2025-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144243901","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

Planar Velocity Estimation for Fast-Moving Mobile Robots Using Event-Based Optical Flow 基于事件光流的快速移动机器人平面速度估计

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-02 DOI: 10.1109/LRA.2025.3576070

Liam Boyle;Jonas Kühne;Nicolas Baumann;Niklas Bastuck;Michele Magno

{"title":"Planar Velocity Estimation for Fast-Moving Mobile Robots Using Event-Based Optical Flow","authors":"Liam Boyle;Jonas Kühne;Nicolas Baumann;Niklas Bastuck;Michele Magno","doi":"10.1109/LRA.2025.3576070","DOIUrl":"https://doi.org/10.1109/LRA.2025.3576070","url":null,"abstract":"Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation, however, it typically requires strong assumptions, such as non-slip steering, or complex vehicle dynamics models that do not hold under varying environmental conditions, like slippery surfaces. We introduce an approach to velocity estimation that is decoupled from wheel-to-surface traction assumptions by leveraging planar kinematics in combination with optical flow from event cameras pointed perpendicularly at the ground. The asynchronous <inline-formula><tex-math>$mu$</tex-math></inline-formula>-second latency and high dynamic range of event cameras make them highly robust to motion blur, a common challenge in vision-based perception techniques for autonomous driving. The proposed method is evaluated through in-field experiments on a 1:10 scale autonomous racing platform and compared to precise motion capture data demonstrating not only performance on par with the State-of-the-Art Event-VIO method but also a 38.3% improvement in lateral error. Qualitative experiments at highway speeds of up to <inline-formula><tex-math>${text{32}} ,{text{m}}/{text{s}}$</tex-math></inline-formula> further confirm the effectiveness of our approach, indicating significant potential for real-world deployment.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 7","pages":"7318-7325"},"PeriodicalIF":4.6,"publicationDate":"2025-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144243885","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

Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy 利用最大均值差异的随机动力学下的轨迹优化

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-29 DOI: 10.1109/LRA.2025.3565335

Basant Sharma;Arun Kumar Singh

{"title":"Trajectory Optimization Under Stochastic Dynamics Leveraging Maximum Mean Discrepancy","authors":"Basant Sharma;Arun Kumar Singh","doi":"10.1109/LRA.2025.3565335","DOIUrl":"https://doi.org/10.1109/LRA.2025.3565335","url":null,"abstract":"This paper addresses sampling-based trajectory optimization for risk-aware navigation under stochastic dynamics. Typically such approaches operate by computing <inline-formula><tex-math>$tilde{N}$</tex-math></inline-formula> perturbed rollouts around the nominal dynamics to estimate the collision risk associated with a sequence of control commands. We consider a setting where it is expensive to estimate risk using perturbed rollouts, for example, due to expensive collision-checks. We put forward two key contributions. First, we develop an algorithm that distills the statistical information from a larger set of rollouts to a <italic>reduced-set</i> with sample size <inline-formula><tex-math>$N< < tilde{N}$</tex-math></inline-formula>. Consequently, we estimate collision risk using just <inline-formula><tex-math>$N$</tex-math></inline-formula> rollouts instead of <inline-formula><tex-math>$tilde{N}$</tex-math></inline-formula>. Second, we formulate a novel surrogate for the collision risk that can leverage the distilled statistical information contained in the <italic>reduced-set</i>. We formalize both algorithmic contributions using distribution embedding in Reproducing Kernel Hilbert Space (RKHS) and Maximum Mean Discrepancy (MMD). We perform extensive benchmarking to demonstrate that our MMD-based approach leads to safer trajectories at low sample regime than existing baselines using Conditional Value-at Risk (CVaR) based collision risk estimate.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6079-6086"},"PeriodicalIF":4.6,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10979910","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143908367","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

WireFlie: A Novel Obstacle-Overcoming Mechanism for Autonomous Transmission Line Inspection Drones WireFlie：一种用于自动输电线路检测无人机的新型障碍克服机制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-29 DOI: 10.1109/LRA.2025.3565378

Aditya Sehgal;Zahiruddin Mahammad;Poorna Sasank Sesetti;Ankur Badhwar;Nagamanikandan Govindan

{"title":"WireFlie: A Novel Obstacle-Overcoming Mechanism for Autonomous Transmission Line Inspection Drones","authors":"Aditya Sehgal;Zahiruddin Mahammad;Poorna Sasank Sesetti;Ankur Badhwar;Nagamanikandan Govindan","doi":"10.1109/LRA.2025.3565378","DOIUrl":"https://doi.org/10.1109/LRA.2025.3565378","url":null,"abstract":"Robotic inspection of transmission lines presents significant challenges due to the complexity of navigating along the wires. Existing systems often rely on either flight modes for visual inspection or articulated crawling mechanisms for contact-based inspection. However, these approaches face limitations in effectively bypassing in-line obstacles or pylons, which are common in transmission line environments. This letter presents WireFlie, a novel hybrid robotic system that integrates rolling and flight modes to overcome these challenges. The system consists of a pair of underactuated arms mounted on a drone platform, designed for secure, collision-free locking and detaching, enabling seamless transitions between locomotion modes. WireFlie supports both single-arm and dual-arm rolling, allowing it to bypass in-line obstacles such as Stockbridge dampers, dual spacers, and sleeves, and to overcome larger obstacles like pylons using flight. Additionally, we propose a high-level controller for autonomous locking, detaching, and obstacle avoidance. Experiments are conducted on a custom-made setup that closely resembles a transmission wire. We evaluate both the design and control aspects of our system, with results including kinematic analysis, wire detection, autonomous locking and the corresponding trajectory, and obstacle detection and avoidance strategies. This research contributes to the field of robotic infrastructure inspection by merging aerial and wire-based locomotion, providing efficient and autonomous monitoring of power lines.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6528-6535"},"PeriodicalIF":4.6,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144108360","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

EvTTC: An Event Camera Dataset for Time-to-Collision Estimation EvTTC：用于碰撞时间估计的事件相机数据集

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-29 DOI: 10.1109/LRA.2025.3565379

Kaizhen Sun;Jinghang Li;Kuan Dai;Bangyan Liao;Wei Xiong;Yi Zhou

{"title":"EvTTC: An Event Camera Dataset for Time-to-Collision Estimation","authors":"Kaizhen Sun;Jinghang Li;Kuan Dai;Bangyan Liao;Wei Xiong;Yi Zhou","doi":"10.1109/LRA.2025.3565379","DOIUrl":"https://doi.org/10.1109/LRA.2025.3565379","url":null,"abstract":"Time-to-Collision (TTC) estimation lies in the core of the forward collision warning (FCW) functionality, which is key to all Automatic Emergency Braking (AEB) systems. Although the success of solutions using frame-based cameras (e.g., <italic>Mobileye</i>’s solutions) has been witnessed in normal situations, some extreme cases, such as the sudden variation in the relative speed of leading vehicles and the sudden appearance of pedestrians, still pose significant risks that cannot be handled. This is due to the inherent imaging principles of frame-based cameras, where the time interval between adjacent exposures introduces considerable system latency to AEB. Event cameras, as a novel bio-inspired sensor, offer ultra-high temporal resolution and can asynchronously report brightness changes at the microsecond level. To explore the potential of event cameras in the above-mentioned challenging cases, we propose EvTTC, which is, to the best of our knowledge, the first multi-sensor dataset focusing on TTC tasks under high-relative-speed scenarios. EvTTC consists of data collected using standard cameras and event cameras, covering various potential collision scenarios in daily driving and involving multiple collision objects. Additionally, LiDAR and GNSS/INS measurements are provided for the calculation of ground-truth TTC. Considering the high cost of testing TTC algorithms on full-scale mobile platforms, we also provide a small-scale TTC testbed for experimental validation and data augmentation. All the data and the design of the testbed are open sourced, and they can serve as a benchmark that will facilitate the development of vision-based TTC techniques.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6191-6198"},"PeriodicalIF":4.6,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143929667","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

Adaptive Control Allocation for A New Bi-Copter With Center of Gravity Uncertainty 一种具有重心不确定性的新型双旋翼机自适应控制分配

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-29 DOI: 10.1109/LRA.2025.3565360

Jiesong Yang;Xinglu Xia;Xiang He;Yingxun Wang

引用次数: 0

Fault-Tolerant Control of Lifting-Wing Multicopter Based on Nonlinear MPC 基于非线性MPC的升翼多旋翼机容错控制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-29 DOI: 10.1109/LRA.2025.3565364

Xinquan Chen;Shuai Wang;Haixin Zhao;Kai-Yuan Cai;Quan Quan

{"title":"Fault-Tolerant Control of Lifting-Wing Multicopter Based on Nonlinear MPC","authors":"Xinquan Chen;Shuai Wang;Haixin Zhao;Kai-Yuan Cai;Quan Quan","doi":"10.1109/LRA.2025.3565364","DOIUrl":"https://doi.org/10.1109/LRA.2025.3565364","url":null,"abstract":"This letter proposes a fault-tolerant control (FTC) framework for a novel type of aircraft—lifting-wing multicopters. The core of the framework is an attitude controller based on nonlinear model predictive control (NMPC), where the objective function of the NMPC is designed on the basis of the relaxed hover solution for lifting-wing multicopters, derived theoretically in this letter. The existence of the relaxed hover solution demonstrates that, despite the complex aerodynamic forces and moments introduced by the lifting wings, stable attitude control can still be achieved by sacrificing yaw control. Additionally, the FTC framework incorporates a disturbance observer based on the Extended Kalman Filter (EKF), allowing the lifting-wing multicopter to maintain FTC even in the presence of model errors, sensor noise, and actuator response delays. Initially, Model-in-the-Loop (MIL) simulations were conducted to verify the feasibility of the control logic. Subsequently, real-world experiments using onboard sensors and GPS demonstrated that the lifting-wing multicopter could maintain stable attitude control and perform outer-loop position control under single rotor failure as well as two opposite rotor failure conditions.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6135-6142"},"PeriodicalIF":4.6,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143913573","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

A Portable Upper-Limb Exoskeleton With Pneumatic-Driven Variable-Stiffness Units for Long-Term Working in Fixed Overhead and Ahead Postures 具有气动驱动可变刚度单元的便携式上肢外骨骼，用于固定头顶和前方姿势的长期工作

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-29 DOI: 10.1109/LRA.2025.3565386

Baojun Chen;Zhichao Hua;Qiang Lin;Tianfang Li

{"title":"A Portable Upper-Limb Exoskeleton With Pneumatic-Driven Variable-Stiffness Units for Long-Term Working in Fixed Overhead and Ahead Postures","authors":"Baojun Chen;Zhichao Hua;Qiang Lin;Tianfang Li","doi":"10.1109/LRA.2025.3565386","DOIUrl":"https://doi.org/10.1109/LRA.2025.3565386","url":null,"abstract":"Long-term working in fixed postures often leads to muscle fatigue and musculoskeletal disorders. Existing passive exoskeletons for overhead tasks introduce resistance during arm lowering, while active exoskeletons face limitations due to their weight and lack of comfort. To address these challenges, this study introduces the design of three pneumatic-driven variable-stiffness units: a bending actuator, a tensile actuator, and a teeth-engagement clutch. Based on them, a portable semi-active upper-limb exoskeleton was developed for sustained overhead and ahead postures. The exoskeleton is controlled by a portable pneumatic system and the total mass is 3.35 kg. Feasibility of applying the proposed variable-stiffness units in exoskeleton design was verified by promising results of performance evaluation, e.g., the bending variable-stiffness actuator achieved 50.98-Nm/rad bending stiffness and 87.9-fold stiffness variation ratio at a relatively low vacuum pressure of 40 kPa. Compared to the condition without wearing the exoskeleton, averaged muscular activation level reduced by 42.3 ± 2.4% over twelve healthy subjects while maintaining 4 commonly-used postures in assembly work, indicating the promise of applying the proposed exoskeleton for long-term working assistance in fixed overhead and ahead postures.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6240-6247"},"PeriodicalIF":4.6,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143938020","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

Planning for Quasi-Static Manipulation Tasks via an Intrinsic Haptic Metric: A Book Insertion Case Study 规划准静态操作任务通过一个内在的触觉指标：一个图书插入案例研究

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-28 DOI: 10.1109/LRA.2025.3564707

Lin Yang;Sri Harsha Turlapati;Chen Lv;Domenico Campolo

{"title":"Planning for Quasi-Static Manipulation Tasks via an Intrinsic Haptic Metric: A Book Insertion Case Study","authors":"Lin Yang;Sri Harsha Turlapati;Chen Lv;Domenico Campolo","doi":"10.1109/LRA.2025.3564707","DOIUrl":"https://doi.org/10.1109/LRA.2025.3564707","url":null,"abstract":"Contact-rich manipulation often requires strategic interactions with objects, such as pushing to accomplish specific tasks. We propose a novel scenario where a robot inserts a book into a crowded shelf by pushing aside neighboring books to create space before slotting the new book into place. Classical planning algorithms fail in this context due to limited space and their tendency to avoid contact. Additionally, they do not handle indirectly manipulable objects or consider force interactions. Our key contributions are: <inline-formula><tex-math>$i)$</tex-math></inline-formula> reframing quasi-static manipulation as a planning problem on an implicit manifold derived from equilibrium conditions; <inline-formula><tex-math>$ii)$</tex-math></inline-formula> utilizing an intrinsic haptic metric instead of ad-hoc cost functions; and <inline-formula><tex-math>$iii)$</tex-math></inline-formula> proposing an adaptive algorithm that simultaneously updates robot states, object positions, contact points, and haptic distances. We evaluate our method on a crowded bookshelf insertion task, and it can be generally applied to rigid body manipulation tasks. We propose proxies to capture contact points and forces, with superellipses to represent objects. This simplified model guarantees differentiability. Our framework autonomously discovers strategic wedging-in policies while our simplified contact model achieves behavior similar to real world scenarios. We also vary the stiffness and initial positions to analyze our framework comprehensively.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6111-6118"},"PeriodicalIF":4.6,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143913574","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