IEEE Robotics and Automation Letters最新文献_第3页

Closed-Loop Shape-Forming Control of a Magnetic Soft Continuum Robot 磁性软连续体机器人的闭环成形控制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-28 DOI: 10.1109/LRA.2025.3565124

Vittorio Francescon;Nikita Murasovs;Peter Lloyd;Onaizah Onaizah;Damith Suresh Chathuranga;Pietro Valdastri

{"title":"Closed-Loop Shape-Forming Control of a Magnetic Soft Continuum Robot","authors":"Vittorio Francescon;Nikita Murasovs;Peter Lloyd;Onaizah Onaizah;Damith Suresh Chathuranga;Pietro Valdastri","doi":"10.1109/LRA.2025.3565124","DOIUrl":"https://doi.org/10.1109/LRA.2025.3565124","url":null,"abstract":"Continuum manipulators are frequently employed in endoluminal interventions, however, a lack of softness and dexterity in standard manipulators can risk trauma during navigation and limit reachable workspace. Magnetically actuated Soft Continuum Robots (MSCRs) offer enhanced miniaturization potential and reduced rigidity due to their external actuation. Magnetizations pertaining only to the tip of the robot offer a limited range of deformation options where more versatile MSCRs can be embedded with distinct, lengthwise magnetization profiles. These full-body bespoke profiles allow the robots to form pre-determined shapes under actuation. Here we propose an approach to model and control MSCR behavior in closed-loop. We employ this system to achieve shape forming navigations subject to variations in initial conditions. To validate our methodology, we conduct experiments using a 50 mm long by 1.8 mm diameter MSCR navigating through a soft phantom from the tip of a duodenoscope. The proposed system is capable of rejecting variations in the angle at which the MSCR is inserted. We employed homogeneous magnetic fields for actuation and closed-loop vision-based control to manipulate the lengthwise body shape of our MSCR. The performance of this closed-loop approach is compared with an open loop counterpart, which fails in all but one navigation attempts into the pancreatic duct.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6071-6078"},"PeriodicalIF":4.6,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143908340","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

Kangaroo Tail-Inspired Variable Stiffness Executive Mechanism for Rescue Robots 袋鼠尾启发的救援机器人变刚度执行机构

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-28 DOI: 10.1109/LRA.2025.3564774

Maoshi Lu;Yanzhi Zhao;Feixiang Ma;Yu Shan;Bowen Zhang

{"title":"Kangaroo Tail-Inspired Variable Stiffness Executive Mechanism for Rescue Robots","authors":"Maoshi Lu;Yanzhi Zhao;Feixiang Ma;Yu Shan;Bowen Zhang","doi":"10.1109/LRA.2025.3564774","DOIUrl":"https://doi.org/10.1109/LRA.2025.3564774","url":null,"abstract":"In the field of casualty extraction and rescue, a key challenge is avoiding secondary injuries to the human body during rescue operations. Currently, most rescue robot executive mechanisms are rigid, which increases the risk of contact-related injuries. To address this issue, a rescue executive mechanism with variable stiffness, inspired by the kangaroo tail, is proposed. This mechanism can adapt to the human body's contours with flexible contact while providing sufficient rigidity and load-bearing capacity. By applying the layer jamming principle, the mechanism achieves variable stiffness, enabling it to self-adapt to the human body profile and support large loads. Drawing inspiration from the rigid support and shape adaptability of the kangaroo tail, a 3D model and a prototype of the executive mechanism were developed using bionic principles. The mechanism's performance was validated through variable stiffness tests, contour adaptation tests, and human model holding and loading experiments. The results demonstrate that the rescue robot executive mechanism exhibits high load-bearing capacity (load 32.17 kg), strong adaptability, and enhanced safety, effectively addressing the limitations of rigid mechanisms that may harm the human body.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"5943-5950"},"PeriodicalIF":4.6,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143901870","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 and Reasoning With 3D Deformable Objects for Hierarchical Text-to-3D Robotic Shaping 基于三维可变形对象的分层文本到三维机器人整形规划与推理

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-28 DOI: 10.1109/LRA.2025.3564779

Alison Bartsch;Amir Barati Farimani

引用次数: 0

A Novel Hybrid Ureteroscope Tracking for Robotic-Assisted Retrograde Intrarenal Surgery via Recognition of Pathway With Lumen Identification 一种新型混合式输尿管镜跟踪机器人辅助逆行肾内手术的途径识别与管腔识别

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-28 DOI: 10.1109/LRA.2025.3565154

Jung-Min Han;Dong-Soo Kwon;Ki-Uk Kyung

{"title":"A Novel Hybrid Ureteroscope Tracking for Robotic-Assisted Retrograde Intrarenal Surgery via Recognition of Pathway With Lumen Identification","authors":"Jung-Min Han;Dong-Soo Kwon;Ki-Uk Kyung","doi":"10.1109/LRA.2025.3565154","DOIUrl":"https://doi.org/10.1109/LRA.2025.3565154","url":null,"abstract":"Resolving disorientation of the surgeon caused by wrong recognition of scope's position, which often increases procedural time and workload, remains a significant challenge in robotic-assisted retrograde intrarenal surgery (RIRS). This letter introduces a novel hybrid ureteroscope tracking algorithm that integrates low-latency lumen identification with robotic motion data to enhance intrarenal navigation. The system estimates the ureteroscope's position on the centerline of the kidney by recognizing its pathway. In validation tests using a 3D-printed phantom, the proposed method achieved an average localization success rate of 89.2% for major calyx entry and 84.1% for minor calyx entry, with an average computation time of 0.26 seconds, ensuring low-latency operation. Usability testing with ten novice participants demonstrated a 44.5% reduction in cognitive workload (NASA-TLX), improved task success rates, and reduced manipulation effort. These results indicate that the proposed tracking algorithm significantly enhances ureteroscope navigation, improving efficiency and reducing the surgeon's cognitive load in robotic-assisted RIRS.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6368-6375"},"PeriodicalIF":4.6,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084772","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

ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots 轮式机器人同步重构和全向移动的全差动驱动

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-24 DOI: 10.1109/LRA.2025.3564207

Ziqi Zhao;Peijia Xie;Jiankun Wang;Max Q.-H. Meng

引用次数: 0

Singularity-Free Trajectory Tracking for Steerable Wheeled Mobile Robots 导向轮式移动机器人的无奇点轨迹跟踪

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-24 DOI: 10.1109/LRA.2025.3564209

Michele Cipriano;Giuseppe Oriolo;Andrea Cherubini

引用次数: 0

Acceleration Measurement-Free Dissipative Disturbance Observer for Robotic Manipulators 机械臂无加速度测量耗散扰动观测器

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-24 DOI: 10.1109/LRA.2025.3564205

Seonwoo Kim;Chanwoo Kim;Yeonho Ko;Daehie Hong

引用次数: 0

A Framework for Adaptive Load Redistribution in Human-Exoskeleton-Cobot Systems 人-外骨骼-协作机器人系统自适应负荷再分配框架

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-24 DOI: 10.1109/LRA.2025.3564206

Emir Mobedi;Gokhan Solak;Arash Ajoudani

{"title":"A Framework for Adaptive Load Redistribution in Human-Exoskeleton-Cobot Systems","authors":"Emir Mobedi;Gokhan Solak;Arash Ajoudani","doi":"10.1109/LRA.2025.3564206","DOIUrl":"https://doi.org/10.1109/LRA.2025.3564206","url":null,"abstract":"Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the strain on the elbow and shoulder joints. However, during daily activities, there is no assurance that external loads are correctly aligned with the supported joints. Optimizing work processes to ensure that external loads are primarily (to the extent that they can be compensated by the exoskeleton) directed onto the supported joints can significantly enhance the overall usability of these devices and the ergonomics of their users. Collaborative robots (cobots) can play a role in this optimization, complementing the collaborative aspects of human work. In this study, we propose an adaptive and coordinated control system for the human-cobot-exoskeleton interaction. This system adjusts the task coordinates to maximize the utilization of the supported joints. When the torque limits of the exoskeleton are exceeded, the framework continuously adapts the task frame, redistributing excessive loads to non-supported body joints to prevent overloading the supported ones. We validated our approach in an equivalent industrial painting task involving a single-DOF elbow exoskeleton, a cobot, and four subjects, each tested in four different initial arm configurations with five distinct optimisation weight matrices and two different payloads.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"5927-5934"},"PeriodicalIF":4.6,"publicationDate":"2025-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143901871","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

Stochastic Trajectory Optimization for Robotic Skill Acquisition From a Suboptimal Demonstration 基于次优演示的机器人技能获取随机轨迹优化

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-24 DOI: 10.1109/LRA.2025.3564208

Chenlin Ming;Zitong Wang;Boxuan Zhang;Zhanxiang Cao;Xiaoming Duan;Jianping He

{"title":"Stochastic Trajectory Optimization for Robotic Skill Acquisition From a Suboptimal Demonstration","authors":"Chenlin Ming;Zitong Wang;Boxuan Zhang;Zhanxiang Cao;Xiaoming Duan;Jianping He","doi":"10.1109/LRA.2025.3564208","DOIUrl":"https://doi.org/10.1109/LRA.2025.3564208","url":null,"abstract":"Learning from Demonstration (LfD) has emerged as a crucial method for robots to acquire new skills. However, when given suboptimal task trajectory demonstrations with shape characteristics reflecting human preferences but subpar dynamic attributes such as slow motion, robots not only need to mimic the behaviors but also optimize the dynamic performance. In this work, we leverage optimization-based methods to search for a superior-performing trajectory whose shape is similar to that of the demonstrated trajectory. Specifically, we use Dynamic Time Warping (DTW) to quantify the difference between two trajectories and combine it with additional performance metrics, such as collision cost, to construct the cost function. Moreover, we develop a multi-policy version of the Stochastic Trajectory Optimization for Motion Planning (STOMP), called MSTOMP, which is more stable and robust to parameter changes. To deal with the jitter in the demonstrated trajectory, we further utilize the gain-controlling method in the frequency domain to denoise the demonstration and propose a computationally more efficient metric, called Mean Square Error in the Spectrum (MSES), that measures the trajectories' differences in the frequency domain. We also theoretically highlight the connections between the time domain and the frequency domain methods. Finally, we verify our method in both simulation experiments and real-world experiments, showcasing its improved optimization performance and stability compared to existing methods.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 6","pages":"6127-6134"},"PeriodicalIF":4.6,"publicationDate":"2025-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143913572","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 Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces 利用无畸变参数化构形空间规划凸集图中的短路径

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-04-24 DOI: 10.1109/LRA.2025.3564204

Shruti Garg;Thomas Cohn;Russ Tedrake

引用次数: 0