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

Stereo-LiDAR Fusion by Semi-Global Matching With Discrete Disparity-Matching Cost and Semidensification

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-17 DOI: 10.1109/LRA.2025.3552236

Yasuhiro Yao;Ryoichi Ishikawa;Takeshi Oishi

引用次数: 0

A Novel Seamless Magnetic-Based Actuating Mechanism for End-Effector-Based Robotic Rehabilitation Platforms

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-17 DOI: 10.1109/LRA.2025.3551959

Sima Ghafoori;Ali Rabiee;Maryam Norouzi;Musa K. Jouaneh;Reza Abiri

{"title":"A Novel Seamless Magnetic-Based Actuating Mechanism for End-Effector-Based Robotic Rehabilitation Platforms","authors":"Sima Ghafoori;Ali Rabiee;Maryam Norouzi;Musa K. Jouaneh;Reza Abiri","doi":"10.1109/LRA.2025.3551959","DOIUrl":"https://doi.org/10.1109/LRA.2025.3551959","url":null,"abstract":"Rehabilitation robotics continues to confront substantial challenges, particularly in achieving smooth, safe, and intuitive human-robot interactions for upper limb motor training. Many current systems depend on complex mechanical designs, direct physical contact, and multiple sensors, which not only elevate costs but also reduce accessibility. Additionally, delivering seamless weight compensation and precise motion tracking remains a highly complex undertaking. To overcome these obstacles, we have developed a novel magnetic-based actuation mechanism for end-effector robotic rehabilitation. This innovative approach enables smooth, non-contact force transmission, significantly enhancing patient safety and comfort during upper limb training. To ensure consistent performance, we integrated an Extended Kalman Filter (EKF) alongside a controller for real-time position tracking, allowing the system to maintain high accuracy or recover even in the event of sensor malfunction or failure. In a user study with 12 participants, 75% rated the system highly for its smoothness, while 66.7% commended its safety and effective weight compensation. The EKF demonstrated precise tracking performance, with root mean square error (RMSE) values remaining within acceptable limits (under 2 cm). By combining magnetic actuation with advanced closed-loop control algorithms, this system marks a significant advancement in the field of upper limb rehabilitation robotics.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4516-4523"},"PeriodicalIF":4.6,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143725104","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

Somersaulting Jump of Wheeled Bipedal Robot: A Comprehensive Planning and Control Strategy

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-14 DOI: 10.1109/LRA.2025.3551587

Shuang Tang;Biao Lu;Haixin Cao;Yongchun Fang

{"title":"Somersaulting Jump of Wheeled Bipedal Robot: A Comprehensive Planning and Control Strategy","authors":"Shuang Tang;Biao Lu;Haixin Cao;Yongchun Fang","doi":"10.1109/LRA.2025.3551587","DOIUrl":"https://doi.org/10.1109/LRA.2025.3551587","url":null,"abstract":"The wheeled bipedal robot (WBR) is a type of robot with strong athletic ability. It combines the advantages of wheeled and legged robots while possessing efficient motion performance and good terrain adaptability. However, research on the jumping motion of WBR is currently limited, mainly focusing on relatively simple jumping actions. This letter explores the WBR's somersaulting jump, expanding the degrees of freedom in jumping actions and further enhancing its mobility. A comprehensive planning and control strategy is proposed. Specifically, the paper first designs the entire process of somersaulting jump, including preparation, flight, and recovery, based on human motion. Building on this, the dynamic models for both phases are derived. Critical states at take-off and landing are carefully designed. Moreover, trajectory planning considers constraints such as system dynamics, joint limits, and torque restrictions, ensuring the rationality of the trajectory. Subsequently, effective controllers are constructed to ensure the stability of the somersaulting jump motion. Finally, the effectiveness and adaptability of the overall planning and control strategy are verified through physical simulations.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4460-4467"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143706639","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

How to Relieve Distribution Shifts in Semantic Segmentation for Off-Road Environments

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-14 DOI: 10.1109/LRA.2025.3551536

Ji-Hoon Hwang;Daeyoung Kim;Hyung-Suk Yoon;Dong-Wook Kim;Seung-Woo Seo

{"title":"How to Relieve Distribution Shifts in Semantic Segmentation for Off-Road Environments","authors":"Ji-Hoon Hwang;Daeyoung Kim;Hyung-Suk Yoon;Dong-Wook Kim;Seung-Woo Seo","doi":"10.1109/LRA.2025.3551536","DOIUrl":"https://doi.org/10.1109/LRA.2025.3551536","url":null,"abstract":"Semantic segmentation is crucial for autonomous navigation in off-road environments, enabling precise classification of surroundings to identify traversable regions. However, distinctive factors inherent to off-road conditions, such as source-target domain discrepancies and sensor corruption from rough terrain, can result in distribution shifts that alter the data differently from the trained conditions. This often leads to inaccurate semantic label predictions and subsequent failures in navigation tasks. To address this, we propose ST-Seg, a novel framework that expands the source distribution through style expansion (SE) and texture regularization (TR). Unlike prior methods that implicitly apply generalization within a fixed source distribution, ST-Seg offers an intuitive approach for distribution shift. Specifically, SE broadens domain coverage by generating diverse realistic styles, augmenting the limited style information of the source domain. TR stabilizes local texture representation affected by style-augmented learning through a deep texture manifold. Experiments across various distribution-shifted target domains demonstrate the effectiveness of ST-Seg, with substantial improvements over existing methods. These results highlight the robustness of ST-Seg, enhancing the real-world applicability of semantic segmentation for off-road navigation.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4500-4507"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143716442","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

Corretions to “An Automatic Navigation Framework for Magnetic Fish-Like Millirobot in Uncertain Dynamic Environments” 对 "不确定动态环境中磁鱼类微型机器人的自动导航框架 "的更正

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-14 DOI: 10.1109/LRA.2025.3546693

Chenyao Tian;Xinjian Fan;Jingzhi Jia;Zhan Yang;Hui Xie

引用次数: 0

MAC-Planner: A Novel Task Allocation and Path Planning Framework for Multi-Robot Online Coverage Processes

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-14 DOI: 10.1109/LRA.2025.3551078

Zikai Wang;Xiaoxu Lyu;Jiekai Zhang;Pengyu Wang;Yuxing Zhong;Ling Shi

{"title":"MAC-Planner: A Novel Task Allocation and Path Planning Framework for Multi-Robot Online Coverage Processes","authors":"Zikai Wang;Xiaoxu Lyu;Jiekai Zhang;Pengyu Wang;Yuxing Zhong;Ling Shi","doi":"10.1109/LRA.2025.3551078","DOIUrl":"https://doi.org/10.1109/LRA.2025.3551078","url":null,"abstract":"This paper presents a unified framework called MAC-Planner that combines Multi-Robot Task Allocation with Coverage Path Planning to better solve the online multi-robot coverage path planning (MCPP) problem. By dynamically assigning tasks and planning coverage paths based on the system's real-time completion status, the planner enables robots to operate efficiently within their designated areas. This framework not only achieves outstanding coverage efficiency but also reduces conflict risk among robots. We propose a novel task allocation mechanism. This mechanism reformulates the area coverage problem into a point coverage problem by constructing a coarse map of the target coverage terrain and utilizing <inline-formula><tex-math>$K$</tex-math></inline-formula>-means clustering along with pairwise optimization methods to achieve efficient and equitable task allocation. We also introduce an effective coverage path planning mechanism to generate efficient coverage paths and foster robot cooperation. Extensive comparative experiments against state-of-the-art (SOTA) methods highlight MAC-Planner's remarkable coverage efficiency and effectiveness in reducing conflict risks.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4404-4411"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143706638","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 Neural Control With Online Learning and Short-Term Memory for Adaptive Soft Crawling Robots

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-14 DOI: 10.1109/LRA.2025.3551555

Naris Asawalertsak;Poramate Manoonpong

{"title":"Adaptive Neural Control With Online Learning and Short-Term Memory for Adaptive Soft Crawling Robots","authors":"Naris Asawalertsak;Poramate Manoonpong","doi":"10.1109/LRA.2025.3551555","DOIUrl":"https://doi.org/10.1109/LRA.2025.3551555","url":null,"abstract":"Soft-bodied crawling animals exhibit efficient and adaptive behaviors resulting from the synergy between morphological computation (e.g., a flexible soft body and anisotropic skin) and neural computation (e.g., neural control with plasticity and short-term memory (STM)). However, applying these principles to soft crawling robots remains challenging. To address this, our study proposes an adaptive neural control system that incorporates online learning and STM to generate adaptive behaviors in soft crawling robots. This control system was implemented in a robot with a flexible soft body, anisotropic abdominal denticles or skin, and embodied laser and flex sensors. The robot demonstrated a multilevel adaptation to various perturbations. Perturbations, such as rough terrain, can be managed through passive (body) adaptation via micro-deformation of the denticles and macro-deformation of the body. Larger perturbations, including being lifted or pressed, crawling through confined spaces, and traversing slopes, are handled by active (neural control) adaptation. The robot can learn new behaviors, such as crawling through confined spaces, and store sensory information to maintain the learned behavior robustly, even in the temporary absence of sensory feedback. In addition, it can estimate its state through sensory feedback prediction, detect abnormal states through prediction errors, and adapt its behavior to address these errors.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4380-4387"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143706820","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

Non-Contact Dexterous Micromanipulation With Multiple Optoelectronic Robots

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-14 DOI: 10.1109/LRA.2025.3551538

Yongyi Jia;Shu Miao;Ao Wang;Caiding Ni;Lin Feng;Xiaowo Wang;Xiang Li

{"title":"Non-Contact Dexterous Micromanipulation With Multiple Optoelectronic Robots","authors":"Yongyi Jia;Shu Miao;Ao Wang;Caiding Ni;Lin Feng;Xiaowo Wang;Xiang Li","doi":"10.1109/LRA.2025.3551538","DOIUrl":"https://doi.org/10.1109/LRA.2025.3551538","url":null,"abstract":"Micromanipulation systems leverage automation and robotic technologies to improve the precision, repeatability, and efficiency of various tasks at the microscale. However, current approaches are typically limited to specific objects or tasks, which necessitates the use of custom tools and specialized grasping methods. This letter proposes a novel non-contact micromanipulation method based on optoelectronic technologies. The proposed method utilizes repulsive dielectrophoretic forces generated in the optoelectronic field to drive a microrobot, enabling the microrobot to push the target object in a cluttered environment without physical contact. The non-contact feature can minimize the risks of potential damage, contamination, or adhesion while largely improving the flexibility of manipulation. The feature enables the use of a general tool for indirect object manipulation, eliminating the need for specialized tools. A series of simulation studies and real-world experiments—including non-contact trajectory tracking, obstacle avoidance, and reciprocal avoidance between multiple microrobots—are conducted to validate the performance of the proposed method. The proposed formulation provides a general and dexterous solution for a range of objects and tasks at the micro scale.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4412-4419"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143706559","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

Local Reactive Control for Mobile Manipulators With Whole-Body Safety in Complex Environments

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-14 DOI: 10.1109/LRA.2025.3550733

Chunxin Zheng;Yulin Li;Zhiyuan Song;Zhihai Bi;Jinni Zhou;Boyu Zhou;Jun Ma

{"title":"Local Reactive Control for Mobile Manipulators With Whole-Body Safety in Complex Environments","authors":"Chunxin Zheng;Yulin Li;Zhiyuan Song;Zhihai Bi;Jinni Zhou;Boyu Zhou;Jun Ma","doi":"10.1109/LRA.2025.3550733","DOIUrl":"https://doi.org/10.1109/LRA.2025.3550733","url":null,"abstract":"Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While reactive methods excel in dynamic settings, they struggle to efficiently incorporate complex, coupled constraints across the entire state space. In this work, we present a novel local reactive controller that reformulates the time-domain single-step problem into a multi-step optimization problem in the spatial domain, leveraging the propagation of a serial kinematic chain. This transformation facilitates the formulation of customized, decoupled link-specific constraints, which is further solved efficiently with augmented Lagrangian differential dynamic programming (AL-DDP). Our approach naturally absorbs spatial kinematic propagation in the forward pass and processes all link-specific constraints simultaneously during the backward pass, enhancing both constraint management and computational efficiency. Notably, in this framework, we formulate collision avoidance constraints for each link using accurate geometric models with extracted free regions, and this improves the maneuverability of the mobile manipulator in narrow, cluttered spaces. Experimental results showcase significant improvements in safety, efficiency, and task completion rates. These findings underscore the robustness of the proposed method, particularly in narrow, cluttered environments where conventional approaches could falter.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4556-4563"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143726393","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

Closed-Loop Cooperative Manipulation of Deformable Tissue via Visual Feedback Using Multiple Continuum Surgical Manipulators

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-14 DOI: 10.1109/LRA.2025.3551540

Xiang Wang;Haomin Kuang;Chuanxiang Zhu;Kai Xu

{"title":"Closed-Loop Cooperative Manipulation of Deformable Tissue via Visual Feedback Using Multiple Continuum Surgical Manipulators","authors":"Xiang Wang;Haomin Kuang;Chuanxiang Zhu;Kai Xu","doi":"10.1109/LRA.2025.3551540","DOIUrl":"https://doi.org/10.1109/LRA.2025.3551540","url":null,"abstract":"Continuum surgical manipulators exhibit promising potential in single-port laparoscopy due to their dexterity and design compactness. However, it is challenging for one continuum surgical manipulator to handle heavy tissues during a procedure. This letter hence proposes a closed-loop pose control framework that allows cooperative manipulation of deformable tissues using multiple continuum manipulators, leveraging the inherent visual feedback of a surgical robotic system. In the proposed control framework, the continuum manipulators and the deformable tissues that are gripped by the manipulators are firstly treated as a parallel continuum kinematic chain. The deformable tissues are simplified as elastic tissue rods to facilitate the derivation of a kinetostatics model for the parallel continuum kinematic chain based on the Cosserat rod theory. A stiffness and external wrench estimator and an inverse kinetostatics solver are then developed and utilized alternatively and iteratively in each control cycle. The effectiveness of the proposed control framework is verified through multiple experimental studies on a single-port endoscopic surgical system.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4396-4403"},"PeriodicalIF":4.6,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143706648","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