IEEE Robotics and Automation Letters最新文献_第2页

A Novel Dexterous Steerable Catheter Robot System: Design, Modeling and Evaluation 一种新型灵巧可操纵导管机器人系统：设计、建模与评价

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI: 10.1109/LRA.2025.3588417

Yonggan Yan;Shuxiang Guo;Haikuo Shen;Bin Wang;Mingchao Ding

{"title":"A Novel Dexterous Steerable Catheter Robot System: Design, Modeling and Evaluation","authors":"Yonggan Yan;Shuxiang Guo;Haikuo Shen;Bin Wang;Mingchao Ding","doi":"10.1109/LRA.2025.3588417","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588417","url":null,"abstract":"Vascular interventional surgery (VIS) robots still face limitations in enhancing treatment quality. The primary challenges come from the accurate morphology control and miniaturization of the distal instruments. To address these issues, a novel 4 degrees of freedom steerable catheter robotic system is developed. The catheter is composed of two segments continua connected in series. By actuating the two segments independently, the distal end of the catheter has both position and wide-range orientation control capabilities. To accurately estimate the continuum deformation, an improved tendon tension propagation model considering the path friction is proposed. Then a continuum morphology estimation model is derived cell by cell based on the chain beam assumption. Based on the estimation model, the kinetostatic model is established and a model-based nonlinear numerical solution method is developed to obtain the inverse solution of the actuation space. Experimental results demonstrate that the improved tendon tension propagation model reduces the control errors in position and orientation by 45.6% and 57.6% respectively compared with the simplified model. Additionally, the dexterity and operability of the robotic system are demonstrated by 4 navigation experiments.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8770-8777"},"PeriodicalIF":4.6,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144671231","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

Bundled Liquid Crystal Elastomer Actuators With Integrated Cooling for Mesoscale Soft Robots 用于中尺度软机器人的集成冷却捆绑液晶弹性体致动器

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI: 10.1109/LRA.2025.3588405

Anoush Sepehri;Sukjun Kim;Devyansh Agrawal;Hannah Yared;Gaoweiang Dong;Shengqiang Cai;Tania K. Morimoto

{"title":"Bundled Liquid Crystal Elastomer Actuators With Integrated Cooling for Mesoscale Soft Robots","authors":"Anoush Sepehri;Sukjun Kim;Devyansh Agrawal;Hannah Yared;Gaoweiang Dong;Shengqiang Cai;Tania K. Morimoto","doi":"10.1109/LRA.2025.3588405","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588405","url":null,"abstract":"Liquid crystal elastomer (LCE) is a promising material to develop thermally-driven soft actuators due to its high force density, large elastic strain limit, and mechanically programmable nature. However, the complex trade-off between the force generated and the response speed (i.e., cooling rate), along with the lack of systematic design guidelines necessary to design such actuators using LCE, has significantly limited its widespread adoption for soft robotic applications at the mesoscale (cm-scale). In this work, we developed thermally-driven soft actuators by bundling LCE units with integrated cooling that increased the response speed by over 400% when compared to relying only on passive cooling. We developed and experimentally validated an electro-thermo-mechanical model to predict the force and cooling rate of our actuator and established systematic design guidelines to build our actuators for different soft robotic applications. Using our proposed guidelines, we present an inchworm inspired locomotion robot with a top speed of 6 body lengths per minute. We also present a textile forearm cuff with integrated haptic feedback that can provide up to 4 mm of skin stretch feedback with a cooling rate of 1 second. Overall, the presented actuator, experimental results, and design guidelines expand the potential use cases for thermally-driven actuators in soft robotic applications at the mesoscale.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8874-8881"},"PeriodicalIF":4.6,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695653","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

Automatic Adaptation to Step-Climbing in Elastically Coupled Dual Legged-Wheels 弹性耦合双腿轮爬坡的自动适应

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI: 10.1109/LRA.2025.3589150

Y. Fukuoka;H. Okabe;Y. Nakamura;H. Shirado;T. Koyano

{"title":"Automatic Adaptation to Step-Climbing in Elastically Coupled Dual Legged-Wheels","authors":"Y. Fukuoka;H. Okabe;Y. Nakamura;H. Shirado;T. Koyano","doi":"10.1109/LRA.2025.3589150","DOIUrl":"https://doi.org/10.1109/LRA.2025.3589150","url":null,"abstract":"We develop a mobile platform design for commercial vehicles intended to transport a wide range of weights over paved roads with relatively high steps. We propose a transformable wheel mechanism called the dual legged-wheel (DLW) system, each with a tri-legged structure coaxially connected out-of-phase through a unique elastic mechanism that enables automatic adaptation to step-climbing, eliminating the need for terrain sensing and precise control of both legged-wheels. As a result, only rotating the active legged-wheel at a constant angular velocity allows the passive legged-wheel to automatically adapt to terrain, thus facilitating the DLW's movement in the circular-wheel form on flat terrain and enabling climbing of a high step with both legged-wheels fully overlapped in front of the step, even under varying load conditions. A robot equipped with additional rear standard active wheels successfully ascends and descends stairs, traverses uneven terrain, and climbs steep slopes. Moreover, our proposed elastic mechanism enables the DLWs to passively transform into the legged-wheel form only during necessary time in the fields, i.e., while climbing a high step and stairs.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8794-8801"},"PeriodicalIF":4.6,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144671224","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

UN3-Mapping: Uncertainty-Aware Neural Non-Projective Signed Distance Fields for 3D Mapping UN3-Mapping：用于3D映射的不确定性感知神经非投影符号距离域

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI: 10.1109/LRA.2025.3588410

Shuangfu Song;Junqiao Zhao;Eduardo Veas;Jiaye Lin;Qiuyi Cao;Chen Ye;Tiantian Feng

引用次数: 0

IMH-MOT: Interactive Multi-Hierarchical Image and Point Cloud Fusion for Multi-Object Tracking IMH-MOT：用于多目标跟踪的交互式多层图像和点云融合

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI: 10.1109/LRA.2025.3589167

Wenyuan Qin;Zhiyan Zhou;Jiong Luo;Chengwei Pan;Hao Xu;Xiwang Dong;Danwei Wang

{"title":"IMH-MOT: Interactive Multi-Hierarchical Image and Point Cloud Fusion for Multi-Object Tracking","authors":"Wenyuan Qin;Zhiyan Zhou;Jiong Luo;Chengwei Pan;Hao Xu;Xiwang Dong;Danwei Wang","doi":"10.1109/LRA.2025.3589167","DOIUrl":"https://doi.org/10.1109/LRA.2025.3589167","url":null,"abstract":"Multi-object tracking (MOT) plays a critical role in applications such as autonomous driving and surveillance. Camera-based approaches offer rich texture features for object association, while LiDAR-based methods provide accurate geometric information for spatial reasoning. Although each modality addresses different challenges, their intrinsic discrepancies hinder effective cross-modal fusion and unified representation learning. To overcome these limitations, we propose IMH-MOT, an interactive multi-hierarchical MOT framework comprising three key modules. The Multi-modality Alignment Module (MMAM) enhances spatial representations by sampling and clustering instance-level point clouds. From different modalities are motion cues integrated by the Multi-modality Motion Estimation Module (MMEM) to build a unified motion model. To mitigate the impact of occlusion on single-frame appearance features, the Long-term Appearance Module (LAM) captures temporal appearance consistency by constructing a long-term appearance embedding. Guided by modality-aware cues from MMAM, MMEM generates reliable spatial representations, while LAM encodes robust long-term appearance features. These components are jointly integrated through a Multi-hierarchical Data Association (MHDA) strategy, enabling stable and accurate tracking. Extensive experiments on the KITTI MOT benchmark demonstrate the effectiveness of our framework, achieving 80.90% HOTA, 89.73% MOTA, and 470 IDSW, outperforming state-of-the-art methods in both standard and challenging scenarios.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8858-8865"},"PeriodicalIF":4.6,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695499","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

Towards Autonomous Reinforcement Learning for Real-World Robotic Manipulation With Large Language Models 基于大语言模型的机器人操作的自主强化学习

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI: 10.1109/LRA.2025.3589162

Niccolò Turcato;Matteo Iovino;Aris Synodinos;Alberto Dalla Libera;Ruggero Carli;Pietro Falco

{"title":"Towards Autonomous Reinforcement Learning for Real-World Robotic Manipulation With Large Language Models","authors":"Niccolò Turcato;Matteo Iovino;Aris Synodinos;Alberto Dalla Libera;Ruggero Carli;Pietro Falco","doi":"10.1109/LRA.2025.3589162","DOIUrl":"https://doi.org/10.1109/LRA.2025.3589162","url":null,"abstract":"Recent advancements in Large Language Models (LLMs) and Visual Language Models (VLMs) have significantly impacted robotics, enabling high-level semantic motion planning applications. Reinforcement Learning (RL), a complementary paradigm, enables agents to autonomously optimize complex behaviors through interaction and reward signals. However, designing effective reward functions for RL remains challenging, especially in real-world tasks where sparse rewards are insufficient and dense rewards require elaborate design. In this work, we propose <italic>Autonomous Reinforcement learning for Complex Human-Informed Environments</i> (<italic>ARCHIE</i>), an unsupervised pipeline leveraging GPT-4, a pre-trained LLM, to generate reward functions directly from natural language task descriptions. The rewards are used to train RL agents in simulated environments, where we formalize the reward generation process to enhance feasibility. Additionally, GPT-4 automates the coding of task success criteria, creating a fully automated, one-shot procedure for translating human-readable text into deployable robot skills. Our approach is validated through extensive simulated experiments on single-arm and bi-manual manipulation tasks using an ABB YuMi collaborative robot, highlighting its practicality and effectiveness. Tasks are demonstrated on the real robot setup.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8850-8857"},"PeriodicalIF":4.6,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144687718","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

Learning Maximal Safe Sets Using Hypernetworks for MPC-Based Local Trajectory Planning in Unknown Environments 利用超网络学习未知环境下基于mpc的局部轨迹规划的最大安全集

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-14 DOI: 10.1109/LRA.2025.3589151

Bojan Derajić;Mohamed-Khalil Bouzidi;Sebastian Bernhard;Wolfgang Hönig

{"title":"Learning Maximal Safe Sets Using Hypernetworks for MPC-Based Local Trajectory Planning in Unknown Environments","authors":"Bojan Derajić;Mohamed-Khalil Bouzidi;Sebastian Bernhard;Wolfgang Hönig","doi":"10.1109/LRA.2025.3589151","DOIUrl":"https://doi.org/10.1109/LRA.2025.3589151","url":null,"abstract":"This paper presents a novel learning-based approach for online estimation of maximal safe sets for local trajectory planning in unknown static environments. The neural representation of a set is used as the terminal set constraint for a model predictive control (MPC) local planner, resulting in improved recursive feasibility and safety. To achieve real-time performance and desired generalization properties, we employ the idea of hypernetworks. We use the Hamilton-Jacobi (HJ) reachability analysis as the source of supervision during the training process, allowing us to consider general nonlinear dynamics and arbitrary constraints. The proposed method is extensively evaluated against relevant baselines in simulations for different environments and robot dynamics. The results show an increase in success rate of up to 52% compared to the best baseline while maintaining comparable execution speed. Additionally, we deploy our proposed method, NTC-MPC, on a physical robot and demonstrate its ability to safely avoid obstacles in scenarios where the baselines fail.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8842-8849"},"PeriodicalIF":4.6,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695664","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

Vibration-Aware Lidar-Inertial Odometry Based on Point-Wise Post-Undistortion Uncertainty 基于逐点不失真后不确定性的振动感知激光雷达惯性里程计

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-11 DOI: 10.1109/LRA.2025.3588393

Yan Dong;Enci Xu;Shaoqiang Qiu;Wenxuan Li;Yang Liu;Bin Han

引用次数: 0

Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks 基于能量罐的严格优先级被动多任务遵从性控制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-11 DOI: 10.1109/LRA.2025.3588045

Erling Tveter;Bjørn Kåre Sæbø;Christian Ott;Kristin Y. Pettersen;Jan Tommy Gravdahl

{"title":"Passive Multi-Task Compliance Control With Strict Priority Through Energy Tanks","authors":"Erling Tveter;Bjørn Kåre Sæbø;Christian Ott;Kristin Y. Pettersen;Jan Tommy Gravdahl","doi":"10.1109/LRA.2025.3588045","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588045","url":null,"abstract":"A robot with kinematical redundancy with respect to a main task may perform additional tasks simultaneously with the main one. Often, it is desirable to prioritize the performance of some tasks over that of others. To create a strict priority between the different tasks, meaning the performance of higher-prioritized tasks is unaffected by lower-prioritized tasks, null-space projections are often used. Null-space projections may, however, cause the closed-loop system to lose the desirable passivity property, which is necessary to ensure stable interactions with passive environments. In previous works, an energy tank has therefore been introduced to compensate for the potential activity stemming from the null-space projections. However, if the energy tank becomes empty when using these previous methods, the performance of the lower-prioritized tasks suffers more than when using a classical, non-passive hierarchical control scheme. Thus, a new approach to handling this case is proposed in this work. In the event of the energy tank becoming empty and unable to compensate for any null-space projection-induced activity, the hierarchy is ceded to preserve the passivity of the system, leading to better performance of the lower-prioritized tasks compared to previous passivation schemes. Output strict passivity of the closed-loop system is proven irrespective of the amount of energy available from the energy tank, and the performance of the proposed method is validated and compared to that of a classical hierarchical impedance controller and that of an earlier passivation method through simulation and experiments of redundant robotic manipulators.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8786-8793"},"PeriodicalIF":4.6,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144671124","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 Dual-Adhesion-Enhanced Soft Gripper With Microwedge Adhesives and SMA-Driven Microspines 带有微楔胶黏剂和sma驱动微棘的双黏附增强软夹持器

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-11 DOI: 10.1109/LRA.2025.3588391

Chang Wang;Peijin Zi;Yang Luo;Bochao Song;Tao Zhang;Kun Xu;Xilun Ding

{"title":"A Dual-Adhesion-Enhanced Soft Gripper With Microwedge Adhesives and SMA-Driven Microspines","authors":"Chang Wang;Peijin Zi;Yang Luo;Bochao Song;Tao Zhang;Kun Xu;Xilun Ding","doi":"10.1109/LRA.2025.3588391","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588391","url":null,"abstract":"Soft grippers are highly valued for their adaptability and safety, but their inherent softness often leads to grasping failure under heavy loads. Most adhesion-enhanced grippers rely on single-adhesion strategies tailored for either smooth or rough surfaces. Lizards, however, effectively navigate in unstructured environments by seamlessly transitioning between different adhesion mechanisms based on surface conditions. Inspired by the hybrid adhesion strategies of geckos and chameleons, this study presents a bioinspired soft gripper that integrates microwedge dry adhesives and SMA-driven microspines. The microwedge adhesives provide controllable adhesion for smooth surfaces, while the SMA-driven microspines extend for rough-surface adhesion and retract to avoid interference. An optimization model was developed to determine optimal link dimensions, enhancing grasping performance in terms of force and radius. Experimental results on various surfaces validated its efficacy. Notably, the gripper with non-backed adhesives achieved 34.9 N payload and 260 mm grasping diameter, marking improvements of 209% and 117%, respectively, over the version without adhesives. In microspine mode, the gripper supported a 20.4 N payload and a 280 mm diameter. In tip clamping mode, the maximum payload reached 6.2 N when grasping a 2 cm block.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8714-8721"},"PeriodicalIF":4.6,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144671227","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