IEEE Robotics and Automation Letters最新文献_第6页

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

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

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

ToMPC: Task-Oriented Model Predictive Control via ADMM for Safe Robotic Manipulation 基于ADMM的任务导向模型预测控制在机器人安全操作中的应用

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579205

Xinyu Jia;Wenxin Wang;Jun Yang;Yongping Pan;Haoyong Yu

引用次数: 0

Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport 用于蠕动运输的仿生气动模块化执行器

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-12 DOI: 10.1109/LRA.2025.3579623

Brian Ye;Zhuonan Hao;Priya Shah;Mohammad Khalid Jawed

{"title":"Bio-Inspired Pneumatic Modular Actuator for Peristaltic Transport","authors":"Brian Ye;Zhuonan Hao;Priya Shah;Mohammad Khalid Jawed","doi":"10.1109/LRA.2025.3579623","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579623","url":null,"abstract":"Peristalsis, a biologically inspired mechanism, plays a crucial role in locomotion and material transport in living systems. While extensively studied in nature, its application in soft robotics for handling and transporting objects has seen progress but remains limited. This study presents a pneumatic modular actuator, fabricated from silicone polymer, that is scalable, adaptable, and repairable in situ. The system integrates donut-shaped actuation modules capable of radial and axial inflation, coupled with real-time pressure feedback for synchronized control across multiple stacked modules. Experimental validation demonstrates the actuator's ability to grasp and transport objects with diameters as small as 0.4 times its inner diameter at a speed of <inline-formula><tex-math>$2.08 pm 0.07 {mathrm{mm/s}}$</tex-math></inline-formula>. The system successfully handles a range of object materials, including deformable soft tubes, solid handheld levels, and irregularly shaped bundles of pens. This work advances peristaltic actuation on object transportation, enabling safe and reliable manipulation of deformable and irregularly shaped materials across various applications, such as underwater specimen delivery and field robotics operations.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7827-7834"},"PeriodicalIF":4.6,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144367015","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

Jamming Metal Sheets Using Electropermanent Magnets for Stiffness Modulation 用电永磁体干扰金属板的刚度调制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-11 DOI: 10.1109/LRA.2025.3579246

Leah T. Gaeta;Vi T. Vo;Sang-Yoep Lee;Srushti Raste;Megha Venkatesam;Jacob Rogatinsky;M. Deniz Albayrak;Tommaso Ranzani

{"title":"Jamming Metal Sheets Using Electropermanent Magnets for Stiffness Modulation","authors":"Leah T. Gaeta;Vi T. Vo;Sang-Yoep Lee;Srushti Raste;Megha Venkatesam;Jacob Rogatinsky;M. Deniz Albayrak;Tommaso Ranzani","doi":"10.1109/LRA.2025.3579246","DOIUrl":"https://doi.org/10.1109/LRA.2025.3579246","url":null,"abstract":"Soft robots exhibit natural compliance which is desirable in many applications, but often require stiffness modulation techniques when more rigidity is needed. However, many existing stiffening techniques lack portability or fast response times, hindering the ubiquitous adoption of soft robots. Here we introduce a new rapid stiffness modulation method based on magnetism that exhibits portability due to electronic control. This technique jams together thin layers of inherently magnetic metal sheets with a magnetic field generated by electropermanent magnets (EPMs), producing rapid stiffness changes. Quasi-static and dynamic mechanical characterizations for samples with varied layer numbers are presented, highlighting how the magnetic attraction generated by EPMs can be exploited to create a jamming effect. Stiffness increases of up to 68% and energy absorptions of up to 113 mJ were found during quasi-static and dynamic characterizations, respectively. Finally, we demonstrate how this jamming technique can be used in a haptic feedback application and to play a miniaturized version of the game of Skee-Ball.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7739-7746"},"PeriodicalIF":4.6,"publicationDate":"2025-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331606","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

Limiting Kinetic Energy Through Control Barrier Functions: Analysis and Experimental Validation 通过控制势垒函数限制动能：分析与实验验证

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-11 DOI: 10.1109/LRA.2025.3578847

Federico Califano;Daniël Logmans;Wesley Roozing

引用次数: 0

Minimally-Back-Drivable Robots for Rehabilitation: Path-Adherent Permissiveness Control via Trajectory Adaptation 用于康复的最小反向驱动机器人：基于轨迹自适应的路径附着许可控制

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-11 DOI: 10.1109/LRA.2025.3578848

Erfan Shahriari;Johannes Lachner;Sami Haddadin;Neville Hogan

引用次数: 0

A Cross-Scale Manipulator Based on Magnetic-Driven Microwedges 基于磁驱动微楔的跨尺度机械手

IF 4.6 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-06-09 DOI: 10.1109/LRA.2025.3578239

Minghao Yin;Tingting Bao;Xiaozhe You;Wenyue Guo;Jing Cui;Zhongyi Chu

{"title":"A Cross-Scale Manipulator Based on Magnetic-Driven Microwedges","authors":"Minghao Yin;Tingting Bao;Xiaozhe You;Wenyue Guo;Jing Cui;Zhongyi Chu","doi":"10.1109/LRA.2025.3578239","DOIUrl":"https://doi.org/10.1109/LRA.2025.3578239","url":null,"abstract":"Thedimensions of components have recently expanded in range from the micrometer to centimeter scale in MEMS assembly, necessitating the regulation of adhesion force across a broad range to accommodate cross-scale micromanipulation tasks. Inspired by gecko, anisotropic microwedges can effectively regulate adhesion force by varying the contact area. On this basis, we propose a cross-scale manipulator based on magnetic-driven microwedges. Microwedges embedded with magnetic particles bend along the inclined direction in a unidirectional magnetic field, providing a larger adhesion area to realize pick-up tasks. While the magnetic field is driven in a dual directive mode, the interface between microwedges and the target is progressively disrupted, reducing the adhesion area until the place operation is completed. During the entire process, the actual adhesion area can be detected through microscopic vision to judge whether the pick-and-place conditions are met. Experiments indicate that the ratio of maximum and minimum adhesion force provided by the manipulator can reach 2335.2. The size of silicon wafers which can be put up and placed successfully is from 0.3 × 0.3 × 0.1 mm<inline-formula><tex-math>$^{3}$</tex-math></inline-formula> to 3 × 3 × 0.4 mm<inline-formula><tex-math>$^{3}$</tex-math></inline-formula>, and the volume ratio between them can reach 400. Especially, the proposed manipulator can perform assembly tasks, which shows its stability and capability of cross-scale micromanipulation.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 8","pages":"7779-7786"},"PeriodicalIF":4.6,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144367064","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