IEEE Robotics and Automation Letters最新文献

IEEE Robotics and Automation Letters Information for Authors IEEE机器人与自动化作者信函信息

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-23 DOI: 10.1109/LRA.2025.3590231

引用次数: 0

IEEE Robotics and Automation Society Information IEEE机器人与自动化学会信息

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-23 DOI: 10.1109/LRA.2025.3590229

引用次数: 0

IEEE Robotics and Automation Society Publication Information IEEE机器人与自动化协会出版信息

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-23 DOI: 10.1109/LRA.2025.3590227

引用次数: 0

Knowledge Distillation for Underwater Feature Extraction and Matching via GAN-Synthesized Images 基于gan合成图像的水下特征提取与匹配的知识蒸馏

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-16 DOI: 10.1109/LRA.2025.3589805

Jinghe Yang;Mingming Gong;Ye Pu

{"title":"Knowledge Distillation for Underwater Feature Extraction and Matching via GAN-Synthesized Images","authors":"Jinghe Yang;Mingming Gong;Ye Pu","doi":"10.1109/LRA.2025.3589805","DOIUrl":"https://doi.org/10.1109/LRA.2025.3589805","url":null,"abstract":"Autonomous Underwater Vehicles (AUVs) play a crucial role in underwater exploration. Vision-based methods offer cost-effective solutions for localization and mapping in the absence of conventional sensors like GPS and LiDAR. However, underwater environments present significant challenges for feature extraction and matching due to image blurring and noise caused by attenuation, scattering, and the interference of <italic>marine snow</i>. In this paper, we aim to improve the robustness of the feature extraction and matching in the turbid underwater environment using the cross-modal knowledge distillation method that transfers the in-air feature extraction and matching models to underwater settings using synthetic underwater images as the medium. We first propose a novel adaptive GAN-synthesis method to estimate water parameters and underwater noise distribution, to generate environment-specific synthetic underwater images. We then introduce a general knowledge distillation framework compatible with different teacher models. The evaluation of GAN-based synthesis highlights the significance of the new components, i.e. GAN-synthesized noise and forward scattering, in the proposed model. Additionally, VSLAM, as a representative downstream application of feature extraction and matching, is employed on real underwater sequences to validate the effectiveness of the transferred model.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8866-8873"},"PeriodicalIF":4.6,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695622","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

Safety-Critical Ultra-Wideband 3D Localization With Set-Membership Uncertainty Representation 具有集隶属度不确定表示的安全临界超宽带三维定位

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-16 DOI: 10.1109/LRA.2025.3589806

Bo Zhou;Yueqi Zhu;Chufan Rui;Jiasheng Luo;Yan Pan

{"title":"Safety-Critical Ultra-Wideband 3D Localization With Set-Membership Uncertainty Representation","authors":"Bo Zhou;Yueqi Zhu;Chufan Rui;Jiasheng Luo;Yan Pan","doi":"10.1109/LRA.2025.3589806","DOIUrl":"https://doi.org/10.1109/LRA.2025.3589806","url":null,"abstract":"Existing localization methods frequently focus on offline benchmarking based on datasets and assume that the methods possess the same performance in online applications without ground truth. However, since datasets always provide a limited number of scenarios, the reliability of localization methods in unknown scenarios cannot be inferred from their performance on the datasets. Therefore, the over-reliance on benchmarking results will pose a safety risk to the practical applications of localization methods. Inspired by this challenge, in this letter, we propose a safety-critical localization system that can measure the reliability of the estimated locations online in real time based on the set-membership uncertainty. By considering various system uncertainties and addressing the imbalance issue within the current set-membership filters, we design a dimension-balanced set-membership filter (DB-SMF) for ultra-wideband 3D localization based on the unknown but bounded (UBB) assumption and the dimension-balanced objective functions. Compared with the Gaussian uncertainty, our set-membership uncertainty can cover the unknown ground-truth locations with bounded sets. In safety-critical scenarios, this uncertainty can provide deterministic state bounds for tasks such as motion control and obstacle avoidance, thereby better ensuring the safety of the robot. Real-world experiments show that our DB-SMF can estimate set-membership uncertainties with the ability to cover unknown ground truth in finite spaces from range measurements and in this way ensure the safety of the localization system.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8826-8833"},"PeriodicalIF":4.6,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144687717","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

Safety-Critical Reactive Motion Using Constrained Variable Admittance Control With Dual-Type Proximity Sensors 基于约束变导纳控制的双型接近传感器安全临界反应运动

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-16 DOI: 10.1109/LRA.2025.3589826

Seung Jae Moon;Hongsik Yim;Hyunchang Kang;Jae Yoon Shim;Dawoon Jung;Hyouk Ryeol Choi

{"title":"Safety-Critical Reactive Motion Using Constrained Variable Admittance Control With Dual-Type Proximity Sensors","authors":"Seung Jae Moon;Hongsik Yim;Hyunchang Kang;Jae Yoon Shim;Dawoon Jung;Hyouk Ryeol Choi","doi":"10.1109/LRA.2025.3589826","DOIUrl":"https://doi.org/10.1109/LRA.2025.3589826","url":null,"abstract":"We present a method that enhances the safety and responsiveness of robotic manipulators by employing constrained Variable Admittance Control (VAC) in conjunction with proximity perception. Recent studies have shown that manipulators equipped with proximity sensors can effectively avoid nearby obstacles in real-time. Nevertheless, unavoidable collisions remain a critical challenge in human-robot interaction (HRI). As a safety fallback, conventional reactive motion algorithms focus on obstacle avoidance but often suffer from inefficiency and disregard collision handling. Our approach integrates proximity-based pre-contact detection and VAC with QP-based motion constraints to proactively adjust impedance parameters while maintaining stable and controlled motion. By dynamically modulating stiffness and damping in response to sensor feedback, the system improves both obstacle avoidance performance and smooth contact handling. Additionally, a passivity-preserving energy tank mechanism mitigates instability arising from parameter variations, ensuring robust and adaptive behavior. Furthermore, experiments involving HRI<inline-formula><tex-math>$^{1}$</tex-math></inline-formula> demonstrate that the proposed method ensures both safe avoidance and smooth contact handling. These results suggest that the proposed approach is highly applicable to safety-critical tasks in collaborative and industrial robotic environments.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8890-8897"},"PeriodicalIF":4.6,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695611","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

Variable Impedance Control for Floating-Base Supernumerary Robotic Leg in Walking Assistance 浮基辅助行走机械腿的变阻抗控制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-15 DOI: 10.1109/LRA.2025.3588400

Jun Huo;Kehan Xu;Chengyao Li;Yu Cao;Jie Zuo;Xinxing Chen;Jian Huang

{"title":"Variable Impedance Control for Floating-Base Supernumerary Robotic Leg in Walking Assistance","authors":"Jun Huo;Kehan Xu;Chengyao Li;Yu Cao;Jie Zuo;Xinxing Chen;Jian Huang","doi":"10.1109/LRA.2025.3588400","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588400","url":null,"abstract":"In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is particularly susceptible to strong internal disturbances. To address the challenge posed by floating base, we investigated the dynamics model of the loosely coupled SRL and designed a hybrid position/force impedance controller to fit dynamic torque input. An efficient variable impedance control (VIC) method is developed to enhance human-robot interaction, particularly in scenarios involving external force disturbances. By dynamically adjusting impedance parameters, VIC improves the dynamic switching between rigidity and flexibility, so that it can adapt to unknown environmental disturbances in different states. An efficient real-time stability guaranteed impedance parameters generating network is specifically designed for the proposed SRL, to achieve shock mitigation and high rigidity supporting. Simulations and experiments validate the system's effectiveness, demonstrating its ability to maintain smooth signal transitions in flexible states while providing strong support forces in rigid states. This approach provides a practical solution for accommodating individual gait variations in interaction, and significantly advances the safety and adaptability of human-robot systems.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8698-8705"},"PeriodicalIF":4.6,"publicationDate":"2025-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144671229","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

Electroactive Twisted Ribbon for Torsional Zipping Actuator 用于扭拉驱动器的电活性扭带

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-15 DOI: 10.1109/LRA.2025.3588721

Wenjie Sun;Jiayu Liu;Yuejun Xu;Jiameng Li;Majid Taghavi

{"title":"Electroactive Twisted Ribbon for Torsional Zipping Actuator","authors":"Wenjie Sun;Jiayu Liu;Yuejun Xu;Jiameng Li;Majid Taghavi","doi":"10.1109/LRA.2025.3588721","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588721","url":null,"abstract":"Electrostatic soft actuators are known for their high power, rapid response, and accessible control. A variety of operational modalities have been achieved in electrostatic actuators; however, torsional movement remains particularly challenging and has been rarely investigated. This letter employs the dielectrophoretic liquid zipping (DLZ) actuation principle to develop a compliant torsional mechanism. The actuator uses pre-twisted ribbons to achieve torsional deformation with axial contraction when subjected to an electrostatic zipping force. The effects of key parameters, including geometric design, loading constraints, and input voltage, are studied to improve the actuator's performance, including both displacement and force in torsional rotation and axial contraction. By selecting materials such as the length and thickness of the ribbons and controlling the applied voltage, the actuator's behaviour can be tuned for a range of desirable contractions and torsion, maximising one mode of actuation while minimising the other. Additionally, the dynamic response of the actuator under different voltage waveforms and frequencies is investigated. This study extends the design capabilities of electrostatic actuators based on DLZ actuation systems for multi-modal compliant actuation, with potential uses in manipulation and wider robotic applications requiring torsional and axial force.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8834-8841"},"PeriodicalIF":4.6,"publicationDate":"2025-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144704936","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

Multi-Task Multi-Agent Reinforcement Learning via Skill Graphs 基于技能图的多任务多智能体强化学习

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-15 DOI: 10.1109/LRA.2025.3588784

Guobin Zhu;Rui Zhou;Wenkang Ji;Hongyin Zhang;Donglin Wang;Shiyu Zhao

{"title":"Multi-Task Multi-Agent Reinforcement Learning via Skill Graphs","authors":"Guobin Zhu;Rui Zhou;Wenkang Ji;Hongyin Zhang;Donglin Wang;Shiyu Zhao","doi":"10.1109/LRA.2025.3588784","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588784","url":null,"abstract":"Multi-task multi-agent reinforcement learning (M T-MARL) has recently gained attention for its potential to enhance MARL's adaptability across multiple tasks. However, it is challenging for existing multi-task learning methods to handle complex problems, as they are unable to handle unrelated tasks and possess limited knowledge transfer capabilities. In this paper, we propose a hierarchical approach that efficiently addresses these challenges. The high-level module utilizes a skill graph, while the low-level module employs a standard MARL algorithm. Our approach offers two contributions. First, we consider the MT-MARL problem in the context of unrelated tasks, expanding the scope of MTRL. Second, the skill graph is used as the upper layer of the standard hierarchical approach, with training independent of the lower layer, effectively handling unrelated tasks and enhancing knowledge transfer capabilities. Extensive experiments are conducted to validate these advantages and demonstrate that the proposed method outperforms the latest hierarchical MAPPO algorithms. Videos and code are available at <uri>https://github.com/WindyLab/MT-MARL-SG</uri>","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8650-8657"},"PeriodicalIF":4.6,"publicationDate":"2025-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144657481","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

3-Axis Angular Strain Estimation With Hall Effect Sensors for Proprioception of Soft Robotic Manipulators 基于霍尔效应传感器的柔性机械臂本体感觉三轴角应变估计

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI: 10.1109/LRA.2025.3588782

Yusuf Abdullahi Adamu;Daniel Feliu-Talegon;Anup Teejo Mathew;Federico Renda

{"title":"3-Axis Angular Strain Estimation With Hall Effect Sensors for Proprioception of Soft Robotic Manipulators","authors":"Yusuf Abdullahi Adamu;Daniel Feliu-Talegon;Anup Teejo Mathew;Federico Renda","doi":"10.1109/LRA.2025.3588782","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588782","url":null,"abstract":"Slender soft robots offer significant advantages for real-life applications, particularly in areas that require delicate and adaptable interaction with complex environments. However, their effectiveness and safety can be greatly limited in the absence of sensing capabilities. Hall effect sensors, known for their excellent sensitivity and compact design, offer an innovative solution for equipping soft manipulators with perceptive abilities. In this letter, we propose an optimized sensor-magnet arrangement that can estimate all 3 angular strains of a slender rod, including torsion and bending along orthogonal axes, using a single sensor-magnet pair. With optimized design and experimental data, we trained a neural network to accurately predict angular strains from the measured magnetic fields. Using the predicted strains at different points along the body, we reconstruct the 3D shape of the sensorized manipulator using a Piece-wise Constant Angular Strain (PCAS) model. Two manipulator designs were considered in this work: single-segment and three-segment. Experimental results indicate tip position errors of less than 2% of the total manipulator length for the single-segment soft robot and less than 5% for the three-segment soft robot. The inherent simplicity of our design enables easy scaling and replication while ensuring reliable strain measurements critical for accurate robot shape reconstruction.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8666-8673"},"PeriodicalIF":4.6,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11078925","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144657489","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