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

RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments 机器人衣架：学习各种服装的通用机器人衣架插入

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-11 DOI: 10.1109/LRA.2025.3588048

Yuxing Chen;Songlin Wei;Bowen Xiao;Jiangran Lyu;Jiayi Chen;Feng Zhu;He Wang

{"title":"RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments","authors":"Yuxing Chen;Songlin Wei;Bowen Xiao;Jiangran Lyu;Jiayi Chen;Feng Zhu;He Wang","doi":"10.1109/LRA.2025.3588048","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588048","url":null,"abstract":"For the task of hanging clothes, learning how to insert a hanger into a garment is a crucial step, but has rarely been explored in robotics. In this work, we address the problem of inserting a hanger into various unseen garments that are initially laid flat on a table. This task is challenging due to its long-horizon nature, the high degrees of freedom of the garments and the lack of data. To simplify the learning process, we first propose breaking the task into several subtasks. Then, we formulate each subtask as a policy learning problem and propose a low-dimensional action parameterization. To overcome the challenge of limited data, we build our own simulator and create 144 synthetic clothing assets to effectively collect high-quality training data. Our approach uses single-view depth images and object masks as input, which mitigates the Sim2Real appearance gap and achieves high generalization capabilities for new garments. Extensive experiments in both simulation and reality validate our proposed method. By training on various garments in the simulator, our method achieves a 75% success rate with 8 different unseen garments in the real world.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8922-8929"},"PeriodicalIF":4.6,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144716247","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

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

CLEVER: Stream-Based Active Learning for Robust Semantic Perception From Human Instructions CLEVER：基于流的主动学习，从人类指令中获得健壮的语义感知

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-11 DOI: 10.1109/LRA.2025.3588387

Jongseok Lee;Timo Birr;Rudolph Triebel;Tamim Asfour

引用次数: 0

Intraoperative Tumor Localization Using Sweeping Palpation in Robot-Assisted Minimally Invasive Surgery (RMIS) 机器人辅助微创手术（RMIS）中扫描触诊术中肿瘤定位

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-11 DOI: 10.1109/LRA.2025.3588388

Jeongbin Hong;Yunjeong Lee;Youngjun Ryu;Hyoryong Lee;Joowon Park;Sukho Park

{"title":"Intraoperative Tumor Localization Using Sweeping Palpation in Robot-Assisted Minimally Invasive Surgery (RMIS)","authors":"Jeongbin Hong;Yunjeong Lee;Youngjun Ryu;Hyoryong Lee;Joowon Park;Sukho Park","doi":"10.1109/LRA.2025.3588388","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588388","url":null,"abstract":"Robot-assisted minimally invasive surgery (RMIS) provides superior visualization, precision, and flexibility, and it has gained recognition as a technology that enhances therapeutic outcomes, particularly in tumor resection. However, this technology has a limitation in that it predominantly relies on visual feedback, making it challenging for surgeons to accurately detect the location and edges of tumors during surgery. To address this issue, robotic palpation methods have been actively studied. Among these, the sweeping palpation method has the advantage of rapidly exploring a broad region. Nevertheless, conventional sweeping palpation methods can only roughly identify the tumor's location and are limited in detecting tumor edges with precision. In this study, we introduce a novel sweeping palpation method to overcome the limitations of conventional sweeping palpation in RMIS and propose a precise tumor localization method based on this approach. The proposed method involves performing sweeping palpation on the tissue surface using the tip of the robotic end effector while utilizing a Laplacian edge detection algorithm to detect abrupt changes in contact force. This method reduces the reliance on preoperative imaging and enables tumor localization to be performed within a single robotic system. To validate the proposed tumor localization method, we conducted three phantom experiments and <italic>ex vivo</i> experiment. These validations demonstrate the potential of our proposed method to contribute to precise tumor resection and the establishment of effective treatment plans.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8898-8905"},"PeriodicalIF":4.6,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695663","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

Language-Embedded 6D Pose Estimation for Tool Manipulation 工具操作的语言嵌入式6D姿态估计

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-10 DOI: 10.1109/LRA.2025.3587559

Yuyang Tu;Yunlong Wang;Hui Zhang;Wenkai Chen;Jianwei Zhang

引用次数: 0

Deep Reinforcement Learning-Based Motion Planning and PDE Control for Flexible Manipulators 基于深度强化学习的柔性机械臂运动规划与PDE控制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-10 DOI: 10.1109/LRA.2025.3588057

Amir Hossein Barjini;Seyed Adel Alizadeh Kolagar;Sadeq Yaqubi;Jouni Mattila

{"title":"Deep Reinforcement Learning-Based Motion Planning and PDE Control for Flexible Manipulators","authors":"Amir Hossein Barjini;Seyed Adel Alizadeh Kolagar;Sadeq Yaqubi;Jouni Mattila","doi":"10.1109/LRA.2025.3588057","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588057","url":null,"abstract":"This article presents a motion planning and control framework for flexible robotic manipulators, integrating deep reinforcement learning (DRL) with a nonlinear partial differential equation (PDE) controller. Unlike conventional approaches that focus solely on control, we demonstrate that the desired trajectory significantly influences endpoint vibrations. To address this, a DRL motion planner, trained using the soft actor-critic (SAC) algorithm, generates optimized trajectories that inherently minimize vibrations. The PDE nonlinear controller then computes the required torques to track the planned trajectory while ensuring closed-loop stability using Lyapunov analysis. The proposed methodology is validated through both simulations and real-world experiments, demonstrating superior vibration suppression and tracking accuracy compared to traditional methods. The results underscore the potential of combining learning-based motion planning with model-based control for enhancing the precision and stability of flexible robotic manipulators.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8634-8641"},"PeriodicalIF":4.6,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11077600","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144646681","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

A-C-I Fuzzy Logic System Structure-Based Reconfigurable Robot Manipulators Finite-Time Optimal Backstepping Force/Position Control 基于A-C-I模糊逻辑系统结构的可重构机器人机械臂有限时间最优后退力/位置控制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-10 DOI: 10.1109/LRA.2025.3588036

Yuexi Wang;Tianjiao An;Bo Dong;Mingchao Zhu;Yuanchun Li

{"title":"A-C-I Fuzzy Logic System Structure-Based Reconfigurable Robot Manipulators Finite-Time Optimal Backstepping Force/Position Control","authors":"Yuexi Wang;Tianjiao An;Bo Dong;Mingchao Zhu;Yuanchun Li","doi":"10.1109/LRA.2025.3588036","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588036","url":null,"abstract":"To address the force/position control challenges under varying external constraints, this letter proposes an actor-critic-identify (A-C-I) fuzzy logic system (FLS) structure-based reconfigurable robot manipulators (RRM) finite-time optimal backstepping force/position control. Unlike traditional force/position control methods, the proposed controller adopts a backstepping framework to construct performance indices and optimal controllers associated with the exponential form of tracking error dynamics. The FLS is employed in place of conventional neural networks due to its ability to avoid predefined initial weights and support fast convergence. This replacement enhances the identification of system uncertainties, the approximation of performance indices, and the derivation of the finite-time optimal controller. As a result, the strategy ensures rapid state error convergence and control optimality in the presence of external constraints. Lyapunov-based analysis confirms that the closed-loop system achieves semi-global practical finite-time stability (SGPFS), and experimental results demonstrate the effectiveness of the proposed approach.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8730-8737"},"PeriodicalIF":4.6,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144671123","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

HIF: Height Interval Filtering for Efficient Dynamic Points Removal HIF：用于高效动态点去除的高度间隔滤波

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-10 DOI: 10.1109/LRA.2025.3587843

Shufang Zhang;Tao Jiang;Jiazheng Wu;Ziyu Meng;Ziyang Zhang;Shan An

引用次数: 0

I2KEN: Intra-Domain and Inter-Domain Knowledge Enhancement Network for Lifelong Loop Closure Detection 面向终身闭环检测的域内和域间知识增强网络

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-07-10 DOI: 10.1109/LRA.2025.3588038

Hongwei Qian;Sheng Jin;Liang Chen

{"title":"I2KEN: Intra-Domain and Inter-Domain Knowledge Enhancement Network for Lifelong Loop Closure Detection","authors":"Hongwei Qian;Sheng Jin;Liang Chen","doi":"10.1109/LRA.2025.3588038","DOIUrl":"https://doi.org/10.1109/LRA.2025.3588038","url":null,"abstract":"Loop closure detection (LCD) is crucial for robotic systems as it corrects accumulated pose estimation errors. Existing LCD methods mainly rely on data training of specific scenarios, which leads these methods to struggle to achieve the required cross-domain adaptability when deployed in unseen environments. Therefore, we propose Intra-domain and Inter-domain Knowledge Enhancement Network (I2KEN), a lifelong loop closure detection (LLCD) method, to enhance the cross-domain adaptability of LCD and prevent catastrophic forgetting. First, an Intra-domain Knowledge Refinement (IdKR) strategy is proposed, where a relation matrix among samples is constructed to correct feature relationships extracted by new and old models, effectively reinforcing accurate knowledge transfer. Second, we develop an Inter-domain Knowledge Consolidation (IdKC) module which consists of Batch-wise Contrastive Representation Distillation (BCRD) and Similarity-based Adaptive Model Fusion (SAMF), together enhancing anti-forgetting capability. Specifically, BCRD employs contrastive learning at the feature level to align new and old models, mitigating catastrophic forgetting. Finally, SAMF adaptively fuses the models based on their similarity relationships to balance performance across domains. Experimental results show that I2KEN exceeds existing LLCD methods in three large-scale datasets, achieving new state-of-the-art (SOTA) results for LLCD.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 9","pages":"8722-8729"},"PeriodicalIF":4.6,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144671228","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