IEEE Robotics and Automation Letters最新文献_第5页

Multi-DoF Optothermal Microgripper for Micromanipulation Applications

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-10 DOI: 10.1109/LRA.2025.3549240

Kaiwen Chen;Alex J. Thompson;Belal Ahmad

{"title":"Multi-DoF Optothermal Microgripper for Micromanipulation Applications","authors":"Kaiwen Chen;Alex J. Thompson;Belal Ahmad","doi":"10.1109/LRA.2025.3549240","DOIUrl":"https://doi.org/10.1109/LRA.2025.3549240","url":null,"abstract":"Microgrippers have emerged in minimally invasive surgery and biomedical applications, enabling tasks such as gripping, micro-assembly, and cell manipulation. Realizing microgrippers with multiple degrees-of-freedom (DoFs) enables higher dexterity and multi-functionality. However, due to their small size and limited working space, the development of microgrippers with multi-DoF faces great challenges, requiring complex fabrication technologies and actuation mechanisms. Here we report a novel optothermally-actuated multi-DoF microgripper with multiple functionalities for micromanipulation. For this, three types of optothermal microactuators, namely bimaterial microjoints, chevron-shaped microactuators, and hot-cold arm microactuators are considered. The suitability of the chevron-shaped and hot-cold arm microactuators for mechanical pushing tasks is evaluated through modeling and simulation. Then, a 3-DoF microgripper incorporating two spiral bimaterial microjoints and one chevron-shaped microactuator is designed and fabricated. The selective and individual actuation of these microactuators is facilitated using a fiber bundle and a digital micromirror device. Finally, the performance and multi-functionality of the microgripper are demonstrated by performing multiple micromanipulation tasks of mechanical pushing and pick-and-release of microbeads. This work provides a proof of concept of an optothermal multi-DoF microgripper with multiple functionalities, opening the way for advanced dexterity at the microscale that is difficult to achieve using the current technology.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 4","pages":"4061-4068"},"PeriodicalIF":4.6,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143645301","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

An Immediate Update Strategy of Multi-State Constraint Kalman Filter for Visual-Inertial Odometry

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-10 DOI: 10.1109/LRA.2025.3549664

Qingchao Zhang;Wei Ouyang;Jiale Han;Qi Cai;Maoran Zhu;Yuanxin Wu

引用次数: 0

Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-10 DOI: 10.1109/LRA.2025.3549660

Akhil Sathuluri;Carlotta Sartore;Stefano Dafarra;Silvio Traversaro;Markus Zimmermann;Daniele Pucci

{"title":"Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid Robot Walking","authors":"Akhil Sathuluri;Carlotta Sartore;Stefano Dafarra;Silvio Traversaro;Markus Zimmermann;Daniele Pucci","doi":"10.1109/LRA.2025.3549660","DOIUrl":"https://doi.org/10.1109/LRA.2025.3549660","url":null,"abstract":"Combined optimisation of various robot subsystems as a co-design problem has been shown to identify performant robots. However, classical optimisation methods result in point-optimum solutions that may not ensure robust performance and physical feasibility, i.e., the existence of components with specifications matching the computed optimum value. To address this problem, we present a set-based robust co-design optimisation strategy to maximise disturbance tolerance. Instead of identifying a single point-optimum solution, a so-called <italic>solution space</i> evaluates the combination of the largest design space that delivers the necessary performance while being robust to the largest set of disturbances. The utility of the proposed approach is demonstrated via a computational design study of the ergoCub robot. This study focuses on the robots' walking performance, illustrating (1) improvement in task success considering at least 3 times larger magnitudes of disturbances, (2) identifying a set instead of a point-solution in the design-disturbances space, and (3) improving standardisation of the joint actuation design.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4348-4355"},"PeriodicalIF":4.6,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10918820","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143688165","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

Adaptive Time-Optimal Trajectory Planning Subject to Kinematic and Dynamic Constraints for Articulated Robots

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-10 DOI: 10.1109/LRA.2025.3549647

Yahui Gan;Jiewei Xu;Wei Cai;Bin Huang

{"title":"Adaptive Time-Optimal Trajectory Planning Subject to Kinematic and Dynamic Constraints for Articulated Robots","authors":"Yahui Gan;Jiewei Xu;Wei Cai;Bin Huang","doi":"10.1109/LRA.2025.3549647","DOIUrl":"https://doi.org/10.1109/LRA.2025.3549647","url":null,"abstract":"This letter proposes an adaptive time-optimal path parameterization algorithm (A-TOPP) subject to kinematic and dynamic constraints for articulated robots. The algorithm efficiently incorporates the effects of Coulomb and viscous friction, while flexibly and comprehensively addressing various kinematic and dynamic constraints in different task scenarios. It emphasizes the simultaneous management of both kinematic and dynamic constraints, ensuring versatility and high efficiency across various operational contexts. Firstly, reachable and controllable curves are generated bidirectionally based on reachability analysis. When the maximum velocity curve is exceeded, the numerical search is conducted downward to find the maximum velocity point. Subsequently, local bidirectional adaptive computations are performed to self-correct controllable and reachable curves, thereby obtaining the optimal velocity curve. Finally, the proposed method is validated using a 6-DOF robot along predetermined geometric paths. The results indicate that the A-TOPP algorithm effectively addresses the limitation of the time-optimal path parameterization approach based on reachability analysis (TOPP-RA) which only handles the single torque constraint in ideal cases. Its planning precision is nearly identical to that of the convex optimization algorithm (TOPP-CO) on different paths and remains highly consistent even under various constraints. Notably, compared to the TOPP-CO algorithm, the computational efficiency of the A-TOPP algorithm has soared dozens of times, firmly attesting to its remarkable efficacy.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 4","pages":"4085-4092"},"PeriodicalIF":4.6,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676059","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

AeroHaptix: A Wearable Vibrotactile Feedback System for Enhancing Collision Avoidance in UAV Teleoperation

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-07 DOI: 10.1109/LRA.2025.3548866

Bingjian Huang;Zhecheng Wang;Qilong Cheng;Siyi Ren;Hanfeng Cai;Antonio Alvarez Valdivia;Karthik Mahadevan;Daniel Wigdor

{"title":"AeroHaptix: A Wearable Vibrotactile Feedback System for Enhancing Collision Avoidance in UAV Teleoperation","authors":"Bingjian Huang;Zhecheng Wang;Qilong Cheng;Siyi Ren;Hanfeng Cai;Antonio Alvarez Valdivia;Karthik Mahadevan;Daniel Wigdor","doi":"10.1109/LRA.2025.3548866","DOIUrl":"https://doi.org/10.1109/LRA.2025.3548866","url":null,"abstract":"Haptic feedback enhances collision avoidance by providing directional obstacle information to operators during unmanned aerial vehicle (UAV) teleoperation. However, such feedback is often rendered via haptic joysticks, which are unfamiliar to UAV operators and limited to single-direction force feedback. Additionally, the direct coupling between the input device and the feedback method diminishes operators' sense of control and induces oscillatory movements. To overcome these limitations, we propose AeroHaptix, a wearable haptic feedback system that uses spatial vibrations to simultaneously communicate multiple obstacle directions to operators, without interfering with their input control. The layout of vibrotactile actuators was optimized via a perceptual study to eliminate perceptual biases and achieve uniform spatial coverage. A novel rendering algorithm, MultiCBF, extended control barrier functions to support multi-directional feedback. Our system evaluation showed that compared to a no-feedback condition, AeroHaptix effectively reduced the number of collisions and input disagreement. Furthermore, operators reported that AeroHaptix was more helpful than force feedback, with improved situational awareness and comparable workload.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4260-4267"},"PeriodicalIF":4.6,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143688164","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 the Inverse Hitting Problem 学习逆击球问题

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-06 DOI: 10.1109/LRA.2025.3548496

Harshit Khurana;James Hermus;Maxime Gautier;Aude Billard

引用次数: 0

ContactSDF: Signed Distance Functions as Multi-Contact Models for Dexterous Manipulation

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-05 DOI: 10.1109/LRA.2025.3548503

Wen Yang;Wanxin Jin

引用次数: 0

Unified Framework of Gradient Computation for Hybrid-Link System and Its Dynamical Simulation by Implicit Method

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-05 DOI: 10.1109/LRA.2025.3548497

Taiki Ishigaki;Ko Ayusawa;Ko Yamamoto

{"title":"Unified Framework of Gradient Computation for Hybrid-Link System and Its Dynamical Simulation by Implicit Method","authors":"Taiki Ishigaki;Ko Ayusawa;Ko Yamamoto","doi":"10.1109/LRA.2025.3548497","DOIUrl":"https://doi.org/10.1109/LRA.2025.3548497","url":null,"abstract":"Flexible tools such as golf clubs and sports prostheses used for exercise are generally constructed from materials that are both strong and lightweight enough to withstand the weight and speed of human movement. The authors have previously proposed a hybrid-link system that integrates a rigid-link system with a flexible structure, achieving forward dynamics simulations of the hybrid-link system with floating base-link, such as a human and a humanoid. However, numerical simulations of models with stiff and light flexible structures diverge and are difficult to realize. Using implicit integration as a forward dynamics calculation method is expected to improve the stability of the calculation. However, it requires information on the gradient of the equations of motion. Therefore, this study extends the comprehensive dynamic gradient calculation method proposed for rigid-link systems to hybrid-link systems with floating base-link; moreover, a forward dynamics simulation with contact force calculation is realized using implicit integration in a simple pendulum model, a robot arm and a humanoid with flexible structures.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4188-4195"},"PeriodicalIF":4.6,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10910143","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143667539","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

Decentralized Density Control of Multi-Robot Systems Using PDE-Constrained Optimization

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-05 DOI: 10.1109/LRA.2025.3548501

Longchen Niu;Gennaro Notomista

引用次数: 0

Efficient and Hardware-Friendly Online Adaptation for Deep Stereo Depth Estimation on Embedded Robots

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-03-05 DOI: 10.1109/LRA.2025.3548504

Yuanfan Xu;Shuaiwen Chen;Xinting Yang;Yunfei Xiang;Jincheng Yu;Wenbo Ding;Jian Wang;Yu Wang

{"title":"Efficient and Hardware-Friendly Online Adaptation for Deep Stereo Depth Estimation on Embedded Robots","authors":"Yuanfan Xu;Shuaiwen Chen;Xinting Yang;Yunfei Xiang;Jincheng Yu;Wenbo Ding;Jian Wang;Yu Wang","doi":"10.1109/LRA.2025.3548504","DOIUrl":"https://doi.org/10.1109/LRA.2025.3548504","url":null,"abstract":"Accurate and real-time stereo depth estimation is important for autonomous robots, such as autonomous aerial vehicles (AAVs). Due to the computation constraints of these miniaturized robots, current state-of-the-art algorithms deploy light-weight neural networks while using self-supervised online adaptation to compensate for the lack of generalization. However, the traditional online training approach introduces 2× extra computation overhead, resulting in the failure to meet real-time requirements. Existing efficient training algorithms are primarily designed for train-from-scratch scenarios rather than online training, and involve complicated data quantization methods and non-standard operations, making them highly unfriendly to deployment on robots equipped with embedded GPUs or neural processing units (NPUs). Therefore, this paper aims to improve the online adaptation for deep stereo at the system level from both hardware and software aspects, and proposes a novel online adaptation method, which is robust, computationally efficient, and hardware-friendly. First, we adopt 8-bit quantized training strategy to maximize the performance of typical embedded computing platforms. Considering the streaming input of data during deployment, we design an online calibration method for quantized self-adaptive deep stereo. Then we only update the bias of the convolutional layers and design a plug-in layer with negligible computational cost to enhance the adaptation effect. Meanwhile, this layer is inherently compatible with existing GPUs and NPUs. Our final deep stereo system speeds up the inference and adaptation by 2.11×, which can process 640×360 resolution images at 11.1 FPS on the NVIDIA Jetson Orin NX, and obtains estimation accuracy comparable to current adaptation methods. When deployed on the Horizon Journey-5 Chip, it can further achieve a 10× speedup than Orin NX.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 5","pages":"4308-4315"},"PeriodicalIF":4.6,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143688168","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