Journal of Field Robotics最新文献

{"title":"Multiple Population Genetic Algorithm-Based Inverse Kinematics Solution for a 6-DOF Manipulator","authors":"Shuhuan Wen,&nbsp;Jiatai Min,&nbsp;Zhanqi Yu,&nbsp;Yunxiao Li,&nbsp;Xin Liu,&nbsp;Hamid Reza Karimi","doi":"10.1002/rob.22585","DOIUrl":"https://doi.org/10.1002/rob.22585","url":null,"abstract":"<p>Compared to traditional fixed configuration manipulators, modular manipulators occupy less space, offer greater flexibility, and demonstrate stronger adaptability to diverse environments. These characteristics make them particularly suitable for operating in unknown environments, such as disaster rescue and pipeline inspection. This paper presents the design of a modular robotic arm and proposes a novel approach to solving the inverse kinematics problem for a 6-DOF (degree of freedom) tandem manipulator using a Multi-population Genetic Algorithm (MPGA). The proposed method overcomes the high nonlinearity and computational complexity of traditional genetic algorithms (SGA) by incorporating real-number encoding, Exponential Ranking Selection, and a combination of Simple and Gaussian mutations. These improvements significantly enhance the algorithm's convergence speed, accuracy, and robustness, making it suitable for complex robotic systems. The manipulator's forward kinematics is established using the Denavit-Hartenberg (D-H) method, and the MPGA optimizes the inverse kinematics solution. Simulations and experiments on both fixed and mobile platforms demonstrate the MPGA's superior performance in terms of computational efficiency and solution accuracy. The manipulator accurately followed the planned trajectory, validating the method's effectiveness. This study provides a novel and efficient solution for inverse kinematics in high-DOF manipulators, offering potential applications across various robotic systems.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3440-3453"},"PeriodicalIF":5.2,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22585","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129101","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}

{"title":"Adaptive Deep Reinforcement Learning Hybrid Neuro-Fuzzy Inference System Based Path Planning Algorithm for Mobile Robot","authors":"Sujay Chakraborty,&nbsp;Ajay Singh Raghuvanshi","doi":"10.1002/rob.22578","DOIUrl":"https://doi.org/10.1002/rob.22578","url":null,"abstract":"<div>\u0000 \u0000 <p>Mobile robot route planning is the process of calculating a mobile robot's collision-free path from a starting place to a goal point surrounded by its environment. It is a critical component of mobile robotics since it enables robots to move around and perform tasks independently in a variety of conditions. The Global Positioning System (GPS), the Adaptive Neuro-Fuzzy Inference System (ANFIS), and deep reinforcement learning (DRL) are commonly used tools for tracking as well as control. This paper proposes a GPS-based DRL-ANFIS navigation method for mobile robots that avoid collisions. The GPS-based controller keeps the robot on track to achieve its global and flexible objective. Next, a fuzzy inference system (FIS) is employed to simulate obstacle avoidance using fuzzy linguistics on distance sensor data. In addition, a mobile robot path planning technique based on enhanced DRL is proposed to address the issues of limited exploration capability and sparse reward of environmental state space in mobile robot route planning in unfamiliar environments. Finally, the proposed ANFIS parameters are fine-tuned using a tent-based artificial hummingbird algorithm (AHA) to attain the desired location. The proposed approach evaluates the results using MATLAB. The simulation study is designed to assess the proposed strategy's effectiveness in navigating a mobile robot across a complex environment, as well as its performance in comparison to existing collision-free navigation systems. As a result, the proposed approach takes a shorter path and avoids barriers to get the robot closer to its destination. The proposed approach has a computation time of 22 s and a path planning efficiency of 96.56%, which is 5.56% higher than the traditional DRL model.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3425-3439"},"PeriodicalIF":5.2,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129102","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}

{"title":"Design and Control of a Hexapod Robot RENS H3 for Lateral Walking on Unknown Rugged Terrains","authors":"Chunchao Liu,&nbsp;Yaguang Zhu,&nbsp;Zhigang Han,&nbsp;Chenyang Duan","doi":"10.1002/rob.22591","DOIUrl":"https://doi.org/10.1002/rob.22591","url":null,"abstract":"<div>\u0000 \u0000 <p>Legged robots provide an efficient alternative for navigation in complex terrains. However, few studies have explored dynamic locomotion for hexapod robots navigating unknown, rugged terrains. In this paper, the design, control, and implementation of a hexapod robot, RENS H3, inspired by the lateral movement of crabs, are presented with a focus on its adaptability in unknown, uneven terrains. The robot's structural design is introduced, and a hardware control framework for hexapod robots is developed. Additionally, a hierarchical control framework based on model predictive control is proposed, integrating terrain-adaptive control and foot-end Cartesian space force compensation based on posture adjustment into the control architecture to enhance the robot's robustness and terrain adaptability on slopes and unstructured terrains. The proposed method's robustness, adaptability, and energy efficiency were demonstrated through a series of experiments conducted on various outdoor slope terrains, unstructured terrains, and the multi-terrain testbed. Comparative experimental tests further validated the advantages of the approach in unknown rugged terrains.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3468-3481"},"PeriodicalIF":5.2,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129103","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}

{"title":"Practical Predefined-Time Tracking Control of 6-DOF Autonomous Vehicles With Input Quantization and Saturation","authors":"Han Xue,&nbsp;Xiangtao Wang","doi":"10.1002/rob.22590","DOIUrl":"https://doi.org/10.1002/rob.22590","url":null,"abstract":"<div>\u0000 \u0000 <p>Trajectory tracking control is a fundamental problem in the control of unmanned systems. In practical systems, actuators often have input quantization and saturation constraints, and failing to account for these constraints can affect control convergence time, precision, and even lead to system instability. Therefore, designing a practical predefined time controller specifically for unmanned systems with input quantization and saturation is particularly important. In this study, a novel practical predefined-time control criterion and predefined-time control criterion are proposed. A novel observer with predefined-time convergence is designed which can deal with both input quantization and input saturation. It is efficient without high computational cost, local optima, or complex parameter tuning. It can deal with ship systems with 6 degrees of freedom exposed to external disturbance. The 6 degrees of freedom model provides a more comprehensive representation of the dynamic characteristics. An autonomous vehicle model is used for testing, and the effectiveness of the proposed algorithm has been demonstrated.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3454-3467"},"PeriodicalIF":5.2,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129105","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}

{"title":"Hydrodynamics of High-Speed Leaping Underwater Soft Robots Empowered by Transient Driving Method","authors":"Hongkuan Ma,&nbsp;Xiyong Bai,&nbsp;Yang Yang,&nbsp;Pengcheng Jiao,&nbsp;Zhiguo He","doi":"10.1002/rob.22577","DOIUrl":"https://doi.org/10.1002/rob.22577","url":null,"abstract":"<div>\u0000 \u0000 <p>Empowered by the combustion-enabled transient driving method (TDM), underwater soft robots exhibit instantaneous high-speed leaps from water, presenting valuable applications in robotic engineering. This study delves into the optimization of hydrodynamics during the high-speed jumping through the water-air interface, aiming to improve the overall performance of the TDM-enabled robots. We developed a Computational Fluid Dynamics (CFD) model to comprehensively investigate the fluid dynamics involved. This model analyzes the flow field induced by the high-speed leaping-out motions of TDM-driven underwater robots, including flow velocity distribution, pressure, turbulence structure, etc. Employing two-phase CFD model coupling with cavitation model and dynamic mesh technology, the CFD model is validated against experimental data, demonstrating satisfactory agreements and effectively improving calculating accuracy. Furthermore, we explore design modifications to improve locomotion performance. This shape optimization boosts locomotion velocity while simultaneously reducing drag resistance (the maximum drag coefficient has decreased 29%.) and turbulent energy dissipation rates (the maximum rate has decreased 26%.). The findings offer valuable insights for advancing the capabilities of underwater soft robots in high-speed cross-phase tasks.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3399-3410"},"PeriodicalIF":5.2,"publicationDate":"2025-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129017","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}

{"title":"Design of the Single-Axis Deformation Soft Griper Inspired by the Blossoming of the Petunia","authors":"Daode Zhang,&nbsp;Wei Zhang,&nbsp;Hualin Yang,&nbsp;Shaohui Zhu,&nbsp;Ziwen He,&nbsp;Yanyu Pan","doi":"10.1002/rob.22587","DOIUrl":"https://doi.org/10.1002/rob.22587","url":null,"abstract":"<div>\u0000 \u0000 <p>To simplify the soft gripper structure while improving its gripping range, load capacity, and radial load-carrying capacity, Single-axis Deformation (SD) soft grippers were designed, inspired by the blooming behavior of petunias. Four SD finger structures were designed by analyzing the anatomical structure of petunia petals. The stress concentration resulting from the deformation of the fingers with different structures was analyzed using numerical methods under the same deformation load conditions. To verify the gripping ability of the SD soft gripper, we conducted experiments on opening and closing the SD soft gripper, as well as gripping tests on objects of various shapes and sizes, and also tested its radial load-carrying capacity. The experimental results showed that the opening and closing range of the SD soft gripper is 18–144 mm, the maximum gripping load is 39.4 N, and the radial bending angle is only 2.76° when the radial load is 24 N.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3411-3424"},"PeriodicalIF":5.2,"publicationDate":"2025-05-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145129016","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}

{"title":"SP-RTSD: A Lightweight Real-Time Strawberry Detection on Edge Devices for Onboard Robotic Harvesting","authors":"Yujie Chen,&nbsp;Aijing Shu,&nbsp;Zhanhao Liu,&nbsp;Yang Chen,&nbsp;Won Suk Lee,&nbsp;Yanchao Zhang","doi":"10.1002/rob.22582","DOIUrl":"https://doi.org/10.1002/rob.22582","url":null,"abstract":"<div>\u0000 \u0000 <p>On-board strawberry-picking robots offer the potential to significantly reduce labor costs and enhance picking efficiency. How to achieve high precision and fast strawberry recognition on resource-constrained edge devices is the key to robotic strawberry harvesting. Before developing our model, two lightweighting methods that maintain model structure are explored to substantiate the thesis that only judicious compression strategies tailored to edge hardware specifications can transform heavyweight deep models into efficient and compact deployments with enhanced performance on embedded devices. Based on this, and in combination with RTSD, Superb Real-time Strawberry Detection (SP-RTSD), which is designed to achieve faster and more accurate strawberry recognition on edge devices. Firstly, the C2f-Faster module performs channel-wise feature screening to enhance feature extraction efficiency while reducing model parameters; secondly, a lightweight recognition head with a parameter sharing mechanism is proposed specially for the edge devices. The speed of SP-RTSD was significantly improved by 22% from 20.63 to 25.18 FPS, which is similar to the 25.2 FPS of RTSD. Without changing the model structure, the model size is reduced by 40.3% from 6.2 to 3.7 MB. In contrast to typical lightweight strategies, which often boost inference speed at the cost of accuracy, SP-RTSD achieves exceptional accuracy with a mean average precision (mAP) of 91.7%, slightly outperforming the original baseline model (90.7%). The improvements in accuracy, speed, and size demonstrate that SP-RTSD addresses the challenge of balancing accuracy with inference speed on edge devices. In comparison experiments with other advanced object detection and lightweight models, as well as tests on additional open-source strawberry data sets, SP-RTSD consistently delivered superior results, affirming its robustness. Furthermore, SP-RTSD demonstrated an impressive combined success rate of 92% in strawberry grasping simulation experiments with a robotic arm, thereby confirming its suitability for integration into practical picking machines.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3361-3379"},"PeriodicalIF":5.2,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145128978","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}

{"title":"Coordinated Control of Autonomous Electric Vehicles With Lateral and Longitudinal Control Using a Hybrid Approach","authors":"Varsha Chaurasia,&nbsp;Amar Nath Tiwari,&nbsp;Saurabh Mani Tripathi","doi":"10.1002/rob.22584","DOIUrl":"https://doi.org/10.1002/rob.22584","url":null,"abstract":"<div>\u0000 \u0000 <p>The rise of Autonomous Electric Vehicles (AEVs) has presented formidable challenges in the automotive sector, demanding advanced sensor technology, intricate control systems, and sophisticated decision-making algorithms. Due to the inherently nonlinear dynamics and uncertainties associated with these vehicles, conventional control methods fall short of providing robust solutions. This study proposes a hybrid approach for coordinated longitudinal and lateral control in autonomous driving scenarios. Addressing lateral and longitudinal control, the research integrates road geometry and lateral dynamics considerations. Utilizing a Proportional Integral Derivative (PID) controller with Fire Hawk Optimizer (FHO) algorithm. This study optimizes controller gains for Nonlinear longitudinal dynamics, ensuring reliable speed tracking. Additionally, a Linear Parameter Varied-Models Predictive Controller (LPV-MPC) addresses the challenges related to time-varying longitudinal speeds and distance impact on vehicle lateral stability. Implementation in the matrix laboratory demonstrates the approach's superiority in terms of speed, precision, stability, trajectory tracking, and achieving a minimal lateral error of 0.0526 and mean error, mean absolute error and root mean squared error of 0.193, 0.087 and 0.108 respectively.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3380-3398"},"PeriodicalIF":5.2,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145128986","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}

{"title":"A Controllable-Stiffness Tensegrity Robot Joint for Robust Compliant Manipulation","authors":"Yifeng Hao,&nbsp;Jing Dai,&nbsp;Zhiyi Jiang,&nbsp;Alex Pui-Wai Lee,&nbsp;James Lam,&nbsp;Ka-Wai Kwok","doi":"10.1002/rob.22576","DOIUrl":"https://doi.org/10.1002/rob.22576","url":null,"abstract":"<p>With concerns about safety in human–robot interactions, there is a growing demand for <i>inherent</i> compliance in robot manipulation, especially in healthcare applications, where remote tendon-driven mechanisms have drawn increasing attention, as they can reduce the overall robot joint size and weight by decoupling the motor from the rotary joint via tendon transmission. However, tendon preloading or any external load on the robot links would still be the predominant cause of excessive friction at the joint, deteriorating overall efficiency of the remote mechanical transmission. Our recent work proposed a tensegrity structure as a tendon-driven parallel mechanism for robot joint actuation, in which rotary/sliding friction at the joint can be totally avoided. The stiffness of such tensional integrity structure could be controlled by just tightening the tendons in parallel. Herein, we intend to integrate both tendon force/tension sensors and primitive axial stiffness modulators along the tendons, to close the stiffness control loop by a feedback model that estimates statics-equilibrium stiffness. A stiffness controller is also proposed, which can be operated in hybrid feedback modes involving a model-based stiffness estimator and a data-driven compensator. The proposed control framework is validated in particular for robot-assisted ultrasound scanning. We demonstrate that, even using simple or primitive stiffness modulators integrated along the tensegrity tendons, the robot joint stiffness can be controlled steadily under synthesized dynamic disturbances. The proposed data-driven stiffness compensator could compensate for uncertainty in modeling the complex statics equilibrium of our tensegrity structure, ensuring high-fidelity stiffness control.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3348-3360"},"PeriodicalIF":5.2,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22576","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145128964","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}

{"title":"UV-C Disinfection Robots: A Systematic Review","authors":"Sergio Genilson Pfleger,&nbsp;Maryah Elisa Morastoni Haertel,&nbsp;Patricia Della Mea Plentz","doi":"10.1002/rob.22555","DOIUrl":"https://doi.org/10.1002/rob.22555","url":null,"abstract":"<p>The use of ultraviolet (UV-C) disinfection robots has become increasingly popular in diverse settings, including hospitals, schools, public transportation, and high-traffic areas, especially following the COVID-19 pandemic. These robots offer the potential to enhance disinfection efficiency and reduce human exposure to microorganisms. However, the application of UV-C light for disinfection is not without challenges. These challenges include the need for precise environmental mapping, accurate dose delivery, and the mitigation of safety risks associated with UV-C light exposure to humans and animals. This systematic review aims to examine the current development of UV-C disinfection robots, identify key technological challenges, and explore the methods used to ensure effective and safe disinfection. An automated search was conducted in Scopus, IEEE Xplore, ACM Digital Library, and SpringerLink for studies published up to July 2023, followed by snowballing to gather additional relevant works. A total of 96 studies were reviewed. The majority of these studies either did not address the correct UVGI dose application or lacked methods to ensure appropriate dose delivery. Additionally, the positioning of UV-C lamps was often done subjectively, and most studies did not incorporate any safety measures to prevent accidents related to UVGI exposure. Based on this analysis, a new classification for UV-C disinfection robots was proposed, highlighting technological advancements and readiness levels. Despite the progress made in the field, significant challenges remain in developing UV-C disinfection robots that deliver effective disinfection doses while ensuring safety and operational efficiency. This review emphasizes the need for further research to address these gaps, particularly concerning navigation algorithms, dose accuracy, and safety measures.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"42 7","pages":"3323-3347"},"PeriodicalIF":5.2,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.22555","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145128977","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}