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

OWP-IMU: An RSS-Based Optical Wireless and IMU Indoor Positioning Dataset OWP-IMU：基于rss的光无线和IMU室内定位数据集

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-25 DOI: 10.1109/LRA.2025.3615029

Fan Wu;Jorik De Bruycker;Daan Delabie;Nobby Stevens;François Rottenberg;Lieven De Strycker

{"title":"OWP-IMU: An RSS-Based Optical Wireless and IMU Indoor Positioning Dataset","authors":"Fan Wu;Jorik De Bruycker;Daan Delabie;Nobby Stevens;François Rottenberg;Lieven De Strycker","doi":"10.1109/LRA.2025.3615029","DOIUrl":"https://doi.org/10.1109/LRA.2025.3615029","url":null,"abstract":"Received signal strength (RSS)-based optical wireless positioning (OWP) systems are becoming popular for indoor localization because they are low-cost and accurate. However, few open-source datasets are available to test and analyze RSS-based OWP systems. In this letter, we collected RSS values at a sampling frequency of <inline-formula><tex-math>$27 ,mathrm{Hz}$</tex-math></inline-formula>, inertial measurement unit (IMU) at a sampling frequency of <inline-formula><tex-math>$200 ,mathrm{Hz}$</tex-math></inline-formula> and the ground truth at a sampling frequency of <inline-formula><tex-math>$160 ,mathrm{Hz}$</tex-math></inline-formula> in three indoor environments. The first scenario is obstacle-free, the second contains a metal column obstacle, and the third contains a letter rectangular obstacle, with both obstacles representing different non-line-of-sight (NLOS) scenarios. We recorded data with a vehicle at three different speeds (low, medium and high). The dataset includes over <inline-formula><tex-math>$160 ,{mathrm{k}}$</tex-math></inline-formula> data points and covers more than <inline-formula><tex-math>$110 ,min$</tex-math></inline-formula>. We also provide benchmark tests to show localization performance using only RSS-based OWP and improve accuracy by combining IMU data via extended kalman filter or transformer. The dataset OWP-IMU and accompanying benchmark results are open source to support further research on indoor localization methods.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"12103-12108"},"PeriodicalIF":5.3,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315501","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

Hysteresis-Aware Neural Network Modeling and Whole-Body Reinforcement Learning Control of Soft Robots 软机器人迟滞感知神经网络建模与全身强化学习控制

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-25 DOI: 10.1109/LRA.2025.3615025

Zongyuan Chen;Yan Xia;Jiayuan Liu;Jijia Liu;Wenhao Tang;Jiayu Chen;Feng Gao;Longfei Ma;Hongen Liao;Yu Wang;Chao Yu;Boyu Zhang;Fei Xing

{"title":"Hysteresis-Aware Neural Network Modeling and Whole-Body Reinforcement Learning Control of Soft Robots","authors":"Zongyuan Chen;Yan Xia;Jiayuan Liu;Jijia Liu;Wenhao Tang;Jiayu Chen;Feng Gao;Longfei Ma;Hongen Liao;Yu Wang;Chao Yu;Boyu Zhang;Fei Xing","doi":"10.1109/LRA.2025.3615025","DOIUrl":"https://doi.org/10.1109/LRA.2025.3615025","url":null,"abstract":"Soft robots are inherently compliant and safe, making them suitable for humaninteractive applications such as surgery. However, their nonlinear and hysteretic behavior poses significant challenges for accurate modeling and control. We present a soft robotic system and propose a hysteresis-aware whole-body neural network model that accurately captures and predicts the soft robot’s whole-body motion, including hysteresis effects. Based on this model, we construct a highly parallel simulation environment for soft robot control and apply an on-policy reinforcement learning algorithm to efficiently train whole-body motion control policies. The trained policy is deployed on a real soft robot to evaluate its control performance, and it exhibits high precision in trajectory tracking tasks. Furthermore, we develop a soft robotic system for surgical applications and validate it through phantom-based laser ablation experiments. The results demonstrate that the proposed model significantly reduces prediction error compared to conventional methods. The overall framework shows strong performance in phantom-based surgical experiments, and demonstrates its potential for complex scenarios, including future real-world clinical applications.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11666-11673"},"PeriodicalIF":5.3,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145255824","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

Research on Automated Microassembly Technology for ICF Target Core Microdevices Based on Teleoperation 基于遥操作的ICF目标核心微器件自动化微装配技术研究

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-25 DOI: 10.1109/LRA.2025.3614545

Hongwei Deng;Kejian Ni;Xiepeng Yang;Haoran Dai;Tao Chen

引用次数: 0

ReLMBot: A Reconfigurable, Legged, Miniature, Modular Robot With Compliant or Rigid, Magnetic Connection Mechanisms ReLMBot：一种可重构的、有腿的、微型的模块化机器人，具有柔性或刚性的磁性连接机制

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-24 DOI: 10.1109/LRA.2025.3614073

Mustafa Uğur;Yiğit Yaman;Burak Arslan;Ömer Çağrı Ergin;Onur Özcan

{"title":"ReLMBot: A Reconfigurable, Legged, Miniature, Modular Robot With Compliant or Rigid, Magnetic Connection Mechanisms","authors":"Mustafa Uğur;Yiğit Yaman;Burak Arslan;Ömer Çağrı Ergin;Onur Özcan","doi":"10.1109/LRA.2025.3614073","DOIUrl":"https://doi.org/10.1109/LRA.2025.3614073","url":null,"abstract":"This letter presents ReLMBot, a reconfigurable, legged, miniature, modular robot with magnetic and passive mechanisms. The robot comprises multiple modules, each equipped with backbones featuring permanent magnets, which offer reconfigurability without requiring additional power or actuation while enhancing the robot’s compliance. Moreover, by choosing the geometry of the magnets differently, the connections can be made rigid (square-shaped) or compliant (cylindrical). A dynamic model incorporating the robot’s magnetic connections is developed to simulate and verify its climbing performance and docking/undocking behavior. The results demonstrated that cylindrical magnets achieve a higher success rate in climbing obstacles and provide significantly higher additional climbing height compared to square-shaped magnets as the number of modules increases. Furthermore, the robot’s starting position relative to the obstacle has a major impact on its climbing success. Modules with square-shaped magnets maintain near 100% success until just below their climbable limit, then drop sharply, especially with fewer modules. Cylindrical magnets show a gradual decline, turning abruptly 5 mm before failure. The modules weigh 29.43 grams and have palm-sized dimensions, allowing them to dock and undock to perform various tasks, including climbing obstacles higher than a single module. The modules possess soft c-shaped legs, enabling operation in diverse terrains like gravel, sand, or grass. The modules’ miniature structure, ease of manufacture, and affordability make them a suitable option for multiple use cases. The robot’s wireless communication capability makes it a strong contender for surveillance in confined spaces like collapsed buildings and nuclear sites, large areas like farmlands, and even planetary exploration missions.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11737-11744"},"PeriodicalIF":5.3,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145255887","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

Compliant Variable Stiffness Actuator and Robust Interactive Torque Control: Principle Mechanism Design and Experimental Verification 柔性变刚度作动器与鲁棒交互转矩控制：原理、机构设计与实验验证

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-24 DOI: 10.1109/LRA.2025.3614047

Tianci Wang;Zhiping Dong;Rundong Huang;Chunhua Liu

{"title":"Compliant Variable Stiffness Actuator and Robust Interactive Torque Control: Principle Mechanism Design and Experimental Verification","authors":"Tianci Wang;Zhiping Dong;Rundong Huang;Chunhua Liu","doi":"10.1109/LRA.2025.3614047","DOIUrl":"https://doi.org/10.1109/LRA.2025.3614047","url":null,"abstract":"The development of Variable Stiffness Actuators (VSAs) represents a promising approach for enhancing intrinsic safety in physical human-robot interaction. This study introduces an innovative VSA design employing an epicyclic-lever mechanism to modulate stiffness through spiral spring preload adjustment. The centrosymmetric lever configuration significantly expands the stiffness tuning range, while the transmission ratio between gear displacement and spring deflection is governed by the lever mechanism, thereby enabling customization of the stiffness profile and adjustment range. The stiffness model of the VSA is established, and its design parameters and driving characteristics related to the stiffness are analyzed. To ensure precise torque tracking in the case of unexpected disturbance, a modified disturbance observer is developed for arbitrary disturbance estimation. Then, a novel robust interactive torque controller for the VSA is proposed. The stiffness identification test, collision experiment, trajectory tracking tests under unload and load conditions, and cyclic movement experiments have validated the superiority of the novel VSA and the developed controller.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"12047-12054"},"PeriodicalIF":5.3,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315277","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

Design and Implementation of an Electrostatic Adhesion-Driven Self-Sensing Actuator for Rapid, Stiffness-Modulated Pneumatic Actuators 用于快速、刚度调制气动执行器的静电粘附驱动自传感执行器的设计与实现

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-24 DOI: 10.1109/LRA.2025.3614021

Hao Liu;Yujin Dai;Jia Yu;Ting Wang;Hongqiang Wang

引用次数: 0

Contact-Implicit Whole-Body Trajectory Optimization for Dynamic Humanoid Locomotion on Parameterizable Uneven Terrain 参数化非平坦地形下仿人动态运动的隐式接触全身轨迹优化

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-24 DOI: 10.1109/LRA.2025.3614066

Roberto Mauceri;Stefano Dafarra;Giulio Romualdi;Marco Gabiccini;Daniele Pucci

引用次数: 0

Finite-Time Torque Control for Bolt-Tightening Robot via a Disturbance Observer 基于扰动观测器的螺栓拧紧机器人有限时间转矩控制

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-24 DOI: 10.1109/LRA.2025.3614065

Junyi You;Haibo Du;Yansheng Liu;Jinfeng Zhang

引用次数: 0

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

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-23 DOI: 10.1109/LRA.2025.3611052

引用次数: 0

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

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-23 DOI: 10.1109/LRA.2025.3611054

引用次数: 0