IEEE Robotics and Automation Letters最新文献_第4页

Object State Estimation Through Robotic Active Interaction for Biological Autonomous Drilling 基于机器人主动交互的生物自主钻井目标状态估计

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-13 DOI: 10.1109/LRA.2025.3579609

Xiaofeng Lin;Enduo Zhao;Saúl Alexis Heredia Pérez;Kanako Harada

引用次数: 0

VarWrist: An Anthropomorphic Soft Wrist With Variable Stiffness 可变刚度的拟人化软手腕

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-13 DOI: 10.1109/LRA.2025.3579629

Chaozhou Zhang;Min Li;Zhanshuo Yang;Xiangrui Kong;Jiayi Luo;Yushen Liu;Jian Fu;Guanghua Xu;Shan Luo

{"title":"VarWrist: An Anthropomorphic Soft Wrist With Variable Stiffness","authors":"Chaozhou Zhang;Min Li;Zhanshuo Yang;Xiangrui Kong;Jiayi Luo;Yushen Liu;Jian Fu;Guanghua Xu;Shan Luo","doi":"10.1109/LRA.2025.3579629","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579629","url":null,"abstract":"Robotic wrists play a crucial role in enhancing the dexterity and stability of robotic end-effectors. Existing rigid robotic wrists tend to be complex and lack flexibility, while soft robotic wrists often struggle with limited load-bearing capacity and lower accuracy. Human wrists feature multi-degrees of freedom and variable stiffness, which help human hands to accomplish daily tasks. This study presents an innovative anthropomorphic soft robotic wrist, VarWrist, equipped with a fiber jamming variable stiffness module, enabling stiffness adjustment through vacuuming. VarWrist consists of three parallel bellows, utilizing a positive-negative pneumatic actuation strategy to mimic human wrist motion. In addition, the trajectory equation of the rotation center was fitted through modeling. We developed a prototype of VarWrist and assessed its performance. Results indicate that the soft wrist surpasses the motion range of human wrists, achieving flexion (81.9°), extension (78.5°), ulnar deviation (70.5°), and radial deviation (70.5°). The bending motion trajectory showed a 73% increase in similarity to human motion compared to fixed-axis rotation, with VarWrist exhibiting a significant range of variable stiffness (resting state: 206%, working state: 155%). Demonstration experiments confirm that this wrist facilitates a dexterous hand in completing grasping tasks that would be unattainable by the hand alone.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7883-7890"},"PeriodicalIF":4.6,"publicationDate":"2025-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144481940","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

Estimation of Gait Phase of Human Stair Descent Walking Based on Phase Variable Approach 基于相位变量法的人下楼梯步态相位估计

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579634

Myeongju Cha;Pilwon Hur

{"title":"Estimation of Gait Phase of Human Stair Descent Walking Based on Phase Variable Approach","authors":"Myeongju Cha;Pilwon Hur","doi":"10.1109/LRA.2025.3579634","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579634","url":null,"abstract":"Synchronization between a wearer and a lower limb powered prosthesis is important for effective control. Typically, phase variable-based phase estimation methods are employed. However, there is a noticeable lack of studies focusing on estimating the gait phase during stair descent, likely due to the difficulty in generating a reliable phase variable. In most studies, the thigh angle is used to generate phase variables for level walking because it follows a sinusoidal pattern. However, during stair descent, the thigh angle exhibits only a partially sinusoidal shape, making it challenging to apply the methods used for level walking. In this study, we propose a novel phase variable generation method to address the difficulty of using only the thigh angle for stair descent. To estimate the gait phase reliably, the phase variable is defined differently for the stance and swing phases: the hip position is used to generate the phase variable during the stance phase, and the thigh angle is used during the swing phase. These phase variables are then unified into a single phase variable (PV-ENT) for the entire gait cycle of stair descent. During this unification process, a non-smooth transition occurs around the phase transition point. To address this, a blending method is applied. The proposed method was validated using the data from 12 healthy subjects, collected through a motion capture system and IMU sensors. The results demonstrate a reliable phase estimation performance. Moreover, the blending method successfully improves the smoothness of the phase variable around the phase transition point without reducing the overall phase estimation performance.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7691-7698"},"PeriodicalIF":4.6,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331655","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 Fast, Tool-Aware Collision Avoidance for Collaborative Robots 快速学习、工具感知的协作机器人避碰

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579207

Joonho Lee;Yunho Kim;Seokjoon Kim;Quan Nguyen;Youngjin Heo

{"title":"Learning Fast, Tool-Aware Collision Avoidance for Collaborative Robots","authors":"Joonho Lee;Yunho Kim;Seokjoon Kim;Quan Nguyen;Youngjin Heo","doi":"10.1109/LRA.2025.3579207","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579207","url":null,"abstract":"Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full visibility and fixed tools, which can lead to collisions or overly conservative behavior. In our work, we introduce a tool-aware collision avoidance system that adjusts in real time to different tool sizes and modes of tool-environment interaction. Using a learned perception model, our system filters out robot and tool components from the point cloud, reasons about occluded area, and predicts collision under partial observability. We then use a control policy trained via constrained reinforcement learning to produce smooth avoidance maneuvers in under 10 milliseconds. In simulated and real-world tests, our approach outperforms traditional approaches (APF, MPPI) in dynamic environments, while maintaining sub-millimeter accuracy. Moreover, our system operates with approximately 60% lower computational cost compared to a state-of-the-art GPU-based planner. Our approach provides modular, efficient, and effective collision avoidance for robots operating in dynamic environments. We integrate our method into a collaborative robot application and demonstrate its practical use for safe and responsive operation.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7731-7738"},"PeriodicalIF":4.6,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331812","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

Reinforcement Learning for Multi-Agent Path Finding in Large-Scale Warehouses via Distributed Policy Evolution 基于分布式策略进化的大规模仓库多智能体寻径强化学习

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579647

Qinru Shi;Meiqin Liu;Senlin Zhang;Xuguang Lan

{"title":"Reinforcement Learning for Multi-Agent Path Finding in Large-Scale Warehouses via Distributed Policy Evolution","authors":"Qinru Shi;Meiqin Liu;Senlin Zhang;Xuguang Lan","doi":"10.1109/LRA.2025.3579647","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579647","url":null,"abstract":"Efficient multi-agent path finding (MAPF) is essential for large-scale warehousing and logistics systems. Despite the potential of reinforcement learning (RL) methods, current approaches struggle with challenges such as inefficient exploration, poor generalization and inadequate deadlock resolution. To address these issues, we propose a novel evolutionary reinforcement learning (ERL) framework to address the MAPF problem in large-scale warehouse environments. Specifically, the framework leverages distributed policy evolution methods to provide diverse experiences, thereby improving policy training efficiency and policy performance. We further integrate curriculum learning into this framework to improve the generality of the policy and make it scalable to larger environments. Additionally, we introduce a deadlock-breaking mechanism based on expert experience, helping to mitigate deadlock issues in large-scale and high-density scenarios. Experiments show that our method outperforms existing methods across various environments, particularly excelling in complex scenarios with over 1,000 agents.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7843-7850"},"PeriodicalIF":4.6,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144367063","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

CNN-Based Electromagnetic Tomographic Approach for Simultaneous Tactile Imaging of Pressure and Temperature 基于cnn的压力和温度同步触觉成像电磁层析方法

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579014

Zhinan Zhang;Shunsuke Yoshimoto;Akio Yamamoto

引用次数: 0

A Sequential Approach for Accurate Parameters Identification of Heavy-Duty Hydraulic Manipulators Ensuring Physical Feasibility 一种保证物理可行性的重载液压机械臂精确参数识别的序贯方法

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579253

Weidi Huang;Zhiwei Chen;Fu Zhang;Min Cheng;Ruqi Ding;Junhui Zhang;Bing Xu

{"title":"A Sequential Approach for Accurate Parameters Identification of Heavy-Duty Hydraulic Manipulators Ensuring Physical Feasibility","authors":"Weidi Huang;Zhiwei Chen;Fu Zhang;Min Cheng;Ruqi Ding;Junhui Zhang;Bing Xu","doi":"10.1109/LRA.2025.3579253","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579253","url":null,"abstract":"Accurate identification of dynamic parameters is essential for precise motion control and autonomous operation of heavy-duty hydraulic manipulators. However, due to their low-speed motion property, conventional approaches fail to simultaneously excite all parameters. To overcome this issue, a sequential parameter identification approach for heavy-duty hydraulic manipulators is proposed. All parameters are categorized based on their dynamic characteristic, and then distinct excitation trajectories have been designed to separately stimulate and identify each parameter. Dynamic parameters are fully excited, which is reflected in a reduced condition number of the observation matrix. Furthermore, an approach that ensures the physical feasibility of the identified parameters is constructed, which makes them more suitable for application in nonlinear control. The performance of the proposed method is evaluated with various identification methods, including traditional least squares, weighted least squares, and the method only considering physical feasibility. The results indicate a substantial decrease in torque prediction error compared to these methods. Specifically, the prediction accuracy of the joint torque using the proposed method has been improved by approximately 5.63% to 27.06%.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7763-7770"},"PeriodicalIF":4.6,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144367014","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

Electronics-Free 3D-Printed Soft Swimming Robot With Pneumatic Oscillating Control for Efficient Undulating Locomotion 无电子3d打印柔性游泳机器人与气动振荡控制高效波动运动

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579015

Yichen Zhai;Michael T. Tolley

{"title":"Electronics-Free 3D-Printed Soft Swimming Robot With Pneumatic Oscillating Control for Efficient Undulating Locomotion","authors":"Yichen Zhai;Michael T. Tolley","doi":"10.1109/LRA.2025.3579015","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579015","url":null,"abstract":"Soft robots, with their compliance and adaptability, are ideal for applications requiring continuously flexible, dynamic movement, making them promising candidates for underwater locomotion. However, current swimming soft robots often rely on electronic power sources and complex, labor-intensive manufacturing, limiting their scalability and use in challenging environments. Recent advancements in 3D printing, particularly fused filament fabrication (FFF), offer a practical alternative for fabricating soft robots, enabling monolithic structures that require minimal assembly. In this work, we introduce a pneumatically powered, electronics-free swimming robot, fully fabricated from soft thermoplastic elastomer (TPE) using a desktop FFF 3D printer. Inspired by the morphology of the tadpole, our design incorporates a pneumatic oscillating controller as the “brain” and segmented actuators as the “tail,” enabling autonomous undulating propulsion without electronics. We demonstrate untethered operation using a portable CO<sub>2</sub> canister and characterize two robot configurations optimized for efficient swimming. The robots achieve controlled oscillation and effective underwater movement, reaching a maximum speed of 0.70 body lengths per second (BL/s). This electronics-free, 3D-printed design represents a step forward in creating low-cost, accessible soft robotic platforms, suited for exploration in aquatic environments where electronics are impractical.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7891-7898"},"PeriodicalIF":4.6,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144472550","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

Detection of Texting While Walking in Occluded Environment Using Variational Autoencoder for Safe Mobile Robot Navigation 基于变分自编码器的移动机器人安全导航中闭塞环境行走时短信检测

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579620

Hayato Terao;Jiaxu Wu;Qi An;Atsushi Yamashita

{"title":"Detection of Texting While Walking in Occluded Environment Using Variational Autoencoder for Safe Mobile Robot Navigation","authors":"Hayato Terao;Jiaxu Wu;Qi An;Atsushi Yamashita","doi":"10.1109/LRA.2025.3579620","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579620","url":null,"abstract":"As autonomous mobile robots begin to populate public spaces, it is becoming increasingly important for robots to accurately distinguish pedestrians and navigate safely to avoid collisions. Texting while walking is a common but hazardous behavior among pedestrians that poses significant challenges for robot navigation systems. While several studies have addressed the detection of text walkers, many have overlooked the impact of occlusions, a very common phenomenon where parts of pedestrians are obscured from sensor's view. This study proposes a machine learning method that distinguishes text walkers from other pedestrians in video data. The proposed method processes each video frame to extract body keypoints, encodes the keypoints into a latent space, and classifies pedestrian activities into three categories: normal walking, texting while walking, and other activities. A variational autoencoder is incorporated to enhance the system's robustness under various occlusion scenarios. Performance tests in real-world environments identified potential areas for improvement, particularly in distinguishing pedestrian activities with similar body postures. However, ablation studies demonstrated that the proposed system performs reliably across different occlusion scenarios.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 7","pages":"7675-7682"},"PeriodicalIF":4.6,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331777","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

Dynamics of Mental Models: Objective Vs. Subjective User Understanding of a Robot in the Wild 心理模型动力学：用户对野外机器人的客观与主观理解

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579217

Ferran Gebellí;Anaís Garell;Séverin Lemaignan;Raquel Ros

{"title":"Dynamics of Mental Models: Objective Vs. Subjective User Understanding of a Robot in the Wild","authors":"Ferran Gebellí;Anaís Garell;Séverin Lemaignan;Raquel Ros","doi":"10.1109/LRA.2025.3579217","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579217","url":null,"abstract":"In Human-Robot Interaction research, assessing how humans understand the robots they interact with is crucial, particularly when studying the impact of explainability and transparency. Some studies evaluate <italic>objective understanding</i> by analysing the accuracy of users' mental models, while others rely on perceived, self-reported levels of <italic>subjective understanding</i>. We hypothesise that both dimensions of understanding may diverge, thus being complementary methods to assess the effects of explainability on users. In our study, we track the weekly progression of the users' understanding of an autonomous robot operating in a healthcare centre over five weeks. Our results reveal a notable mismatch between objective and subjective understanding. In areas where participants lacked sufficient information, the perception of understanding, i.e. subjective understanding, raised with increased contact with the system while their actual understanding, objective understanding, did not. We attribute these results to inaccurate mental models that persist due to limited feedback from the system. Future research should clarify how both objective and subjective dimensions of understanding can be influenced by explainability measures, and how these two dimensions of understanding affect other desiderata such as trust or usability.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7755-7762"},"PeriodicalIF":4.6,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144367016","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