Journal of Field Robotics最新文献

{"title":"Formation Control and Experiment for Propeller-Driven Car-Like Robots With Amplitude and Rate Saturation Under Steering Fault-Tolerant Control","authors":"Yang Sun,&nbsp;Yong Guo,&nbsp;Aijun Li","doi":"10.1002/rob.70106","DOIUrl":"10.1002/rob.70106","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, a formation controller for propeller-driven car-like robots is developed, which is subject to input amplitude, rate saturation, and steering fault-tolerant control. First, the model of the propeller-driven car-like robot is established, where actuator dynamics, amplitude, and rate saturation are considered. Second, the Gauss integration function is used to approximate the input saturation. Rate saturation will be converted into command input saturation and will be achieved by an auxiliary system. Third, the formation controller is developed based on the backstepping control and fault-tolerant control, where the adaptive robust controller and neural-network observer are combined to deal with steering fault. According to the Lyapunov stability theory, it is proved that the propeller-driven car-like robot formation will be stable under the developed controller, while signals in the closed-loop system are ultimately uniformly bounded. Finally, simulation and experiment results verify the effectiveness of the proposed formation control scheme.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 3","pages":"1568-1590"},"PeriodicalIF":5.2,"publicationDate":"2026-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147707855","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":"Experiences With a Last Meter Delivery Robot","authors":"Ricard Bitriá,&nbsp;Jordi Palacín,&nbsp;Elena Rubies,&nbsp;Eduard Clotet","doi":"10.1002/rob.70110","DOIUrl":"10.1002/rob.70110","url":null,"abstract":"<p>The steady growth of e-commerce is a consolidated trend continuously increasing the number of parcels delivered worldwide. Conventionally, in logistics, last mile delivery has been the area of study covering the last step of a parcel delivery process: from the nearest distribution center to the customer. However, in a society tending to live and work in multi-story buildings, the delivery process may require a last step to transport the parcels from the building reception to the apartment or office of each customer. The distance traveled in this last transportation step is in the range of tens to hundreds of meters rather than miles or kilometers. For this reason, this paper defines this logistic step as a specific last meter delivery problem because of the particularities of the transportation challenges that must be addressed inside a building. Specifically, this paper reports the experiences with an autonomous mobile robot performing last meter parcel delivery in a multi-story building. The main conclusion is that mobile robot technology is ready to efficiently implement the task of last meter parcel delivery inside multistory buildings.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 3","pages":"1626-1645"},"PeriodicalIF":5.2,"publicationDate":"2026-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.70110","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147708210","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":"CONCERT: A Modular Reconfigurable Robot for Construction","authors":"Luca Rossini,&nbsp;Edoardo Romiti,&nbsp;Arturo Laurenzi,&nbsp;Francesco Ruscelli,&nbsp;Marco Ruzzon,&nbsp;Luca Covizzi,&nbsp;Lorenzo Baccelliere,&nbsp;Stefano Carrozzo,&nbsp;Michael Terzer,&nbsp;Marco Magri,&nbsp;Carlo Morganti,&nbsp;Maolin Lei,&nbsp;Liana Bertoni,&nbsp;Diego Vedelago,&nbsp;Corrado Burchielli,&nbsp;Stefano Cordasco,&nbsp;Luca Muratore,&nbsp;Andrea Giusti,&nbsp;Nikos Tsagarakis","doi":"10.1002/rob.70092","DOIUrl":"10.1002/rob.70092","url":null,"abstract":"<p>This paper presents CONCERT, a fully reconfigurable modular collaborative robot (cobot) for multiple on-site operations in a construction site. CONCERT has been designed to support human activities in construction sites by leveraging two main characteristics: high-power density motors and modularity. In this way, the robot is able to perform a wide range of highly demanding tasks by acting as a coworker of the human operator or by autonomously executing them following user instructions. Most of its versatility comes from the possibility of rapidly changing its kinematic structure by adding or removing passive or active modules. In this way, the robot can be set up in a vast set of morphologies, consequently changing its workspace and capabilities depending on the task to be executed. In the same way, distal end-effectors can be replaced for the execution of different operations. This paper also includes a full description of the software pipeline employed to automatically discover and deploy the robot morphology. Specifically, depending on the modules installed, the robot updates the kinematic, dynamic, and geometric parameters, taking into account the information embedded in each module. In this way, we demonstrate how the robot can be fully reassembled and made operational in less than 10 min. We validated the CONCERT robot across different use cases, including drilling, sanding, plastering, and collaborative transportation with obstacle avoidance, all performed in a real construction site scenario. We demonstrated the robot's adaptivity and performance in multiple scenarios characterized by different requirements in terms of power and workspace. CONCERT has been designed and built by the Humanoid and Human-Centered Mechatronics Laboratory (HHCM) at the Istituto Italiano di Tecnologia in the context of the European Project Horizon 2020 CONCERT.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 3","pages":"1332-1362"},"PeriodicalIF":5.2,"publicationDate":"2026-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.70092","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147708043","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":"Robust Ship-to-Ship Object Pick-Up With a 6-DoF Robotic Arm Based on Force/Torque Measurement and Gripper Design","authors":"Goran Vasiljevic,&nbsp;Dario Stuhne","doi":"10.1002/rob.70113","DOIUrl":"10.1002/rob.70113","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, we present a method for the manipulation of objects in maritime environments, in particular, for the transportation of objects between two docked ships using a 6-DoF robotic arm. The presented method uses an RGBD camera mounted on the robotic arm end effector to localize the object relative to the robotic arm base. The design of a gripper and a control method based on force and torque measurements provides a robust means of picking up an object and compensating for the influence of relative ship motion due to waves and localization error. The components of the proposed method and the entire manipulation procedure have been tested both in a laboratory environment and in a real-world maritime scenario, demonstrating reliable performance. Laboratory experiments have demonstrated that the gripper design allows for picking up objects with an allowable positioning error of up to 20 cm in the <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 \u0000 <mrow>\u0000 <mi>x</mi>\u0000 </mrow>\u0000 </mrow>\u0000 </semantics></math> direction, 4 cm in the <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 \u0000 <mrow>\u0000 <mi>y</mi>\u0000 </mrow>\u0000 </mrow>\u0000 </semantics></math> direction, and <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 \u0000 <mrow>\u0000 <mn>1</mn>\u0000 \u0000 <msup>\u0000 <mn>5</mn>\u0000 \u0000 <mo>∘</mo>\u0000 </msup>\u0000 </mrow>\u0000 </mrow>\u0000 </semantics></math> in the yaw angle. For the entire pick-up procedure, a 98.3% success rate in laboratory tests demonstrates the repeatability and resilience of the proposed system. The experiment conducted in a real maritime scenario showed successful pick-up of objects using a robotic arm mounted on an autonomous catamaran, both on calm seas and in conditions with small waves.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 3","pages":"1591-1607"},"PeriodicalIF":5.2,"publicationDate":"2026-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147708209","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":"SensHB.Q: A Cost-Effective Force-Sensitive Handlebar to Control Omnidirectional Robots and Wheelchairs","authors":"Luigi Tagliavini,&nbsp;Giuseppe Quaglia","doi":"10.1002/rob.70104","DOIUrl":"10.1002/rob.70104","url":null,"abstract":"<p>This paper details the design and development of SensHB.Q, a force-sensitive handlebar intended for caregivers driving electric-powered wheelchairs, particularly those with omnidirectional mobility. The same interface can also be used in the future to operate other omnidirectional motorized systems, such as mobile robots, hospital beds, and industrial trolleys. The primary objective was to develop an intuitive, cost-effective device. To achieve this, the interface mimics the way we naturally interact with objects by applying forces and torques to achieve desired movements. SensHB.Q measures the forces and torques applied by the driver and converts them into commands for the motorized system. The idea is that the driver applies small forces and torques, and the motorized platform then takes care of the traction forces needed to perform the desired motion. In terms of cost-effectiveness, SensHB.Q uses a mechanism that only employs uniaxial load cells to measure the forces applied by the driver, thus avoiding the need for costly multiaxial load cells. This paper first presents the concept of SensHB, followed by a discussion of its functional and executive design. Second, the study elaborates on the electronic control unit of the device and presents experimental tests comparing the force/torque measurements of SensHB.Q with those of an off-the-shelf, six-axis force/torque sensor. Finally, SensHB.Q is integrated and tested on the omnidirectional motorized wheelchair MoviWE.Q, which was developed at Politecnico di Torino. These preliminary tests, which are performed with a limited number of participants, are used to test whether it is possible to drive an omnidirectional motorized system using the developed force-sensitive interface.</p>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 3","pages":"1471-1483"},"PeriodicalIF":5.2,"publicationDate":"2026-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rob.70104","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147708266","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":"Efficient Inverse Kinematics Solution for Industrial Robotic Arms: NR Iterative Based on IDBO-BPNN Prediction","authors":"Yining Zhang,&nbsp;Shujun Ma,&nbsp;Dezhao Wang,&nbsp;Ronghua Hu","doi":"10.1002/rob.70102","DOIUrl":"10.1002/rob.70102","url":null,"abstract":"<div>\u0000 \u0000 <p>With the growing demand for precise and efficient control of robotic arms in the era of Industry 4.0, traditional methods for solving the inverse kinematics problem face significant limitations in terms of accuracy, computational speed, and adaptability to complex robotic configurations. This paper proposes a novel approach for solving the inverse kinematics problem by integrating the Improved Dung Beetle Optimization (IDBO) algorithm with Backpropagation Neural Networks (BPNN). This hybrid method is applied to Newton-Raphson (NR) iterative algorithms for computing the kinematic solutions of robotic arms, effectively enhancing both optimization efficiency and solution accuracy. The IDBO algorithm, an advanced version of the traditional Dung Beetle Optimization (DBO), incorporates innovative strategies that improve convergence speed and balance local and global search capabilities, making it an effective tool for optimizing the weights and biases of the neural network. As a case study, the UR5e robotic arm is modeled using the Denavit-Hartenberg convention. The proposed IDBO-BPNN method is benchmarked against traditional and other optimization algorithms through simulations, demonstrating superior performance in terms of convergence speed, solution accuracy, and computational stability. Notably, the IDBO-BPNN-NR approach significantly reduces computation time, achieving an 80.6% reduction compared to the Random Iteration Point-NR method and a 66.6% reduction compared to the Fixed Starting Point-NR method. By comparing the solution parameters obtained using the IDBO-BPNN-NR algorithm and the Fixed Starting Point-NR algorithm across robotic arms with varying degrees of freedom and structural configurations, the robust generalization capability of the proposed method is further validated. The results indicate that this hybrid approach is highly suitable for real-time robotic applications, offering a scalable, efficient, and accurate solution to the inverse kinematics problem.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 3","pages":"1454-1470"},"PeriodicalIF":5.2,"publicationDate":"2026-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147708265","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":"Image-Based Modeling and Prediction of Banana Decay Under Blue Light Irradiation","authors":"Hepeng Qu,&nbsp;Minglai Yang,&nbsp;Xuemei Liang,&nbsp;Helong Yu,&nbsp;Lina Zhang","doi":"10.1002/rob.70094","DOIUrl":"10.1002/rob.70094","url":null,"abstract":"<div>\u0000 \u0000 <p>To address the issue of postharvest spoilage and deterioration in bananas, this study proposes an innovative method that integrates blue laser preservation with dynamic adaptive image prediction. This approach overcomes the limitations of traditional preservation methods, such as nutrient loss and chemical residues, by developing a green and efficient preservation technology. A 470 nm blue laser was applied to quantitatively analyze the weight loss rate, firmness variation, and browning degree of bananas. A three-dimensional convolutional neural network (3D-CNN) incorporating a squeeze-and-excitation (SE) module was constructed to localize decay regions through spatiotemporal feature extraction accurately. Furthermore, a dynamically adaptive weighted loss function was designed, which adjusts weights based on image gradients and second-order derivatives to enhance prediction consistency. Under 60 PPFD blue light irradiation, the banana weight loss was reduced by 32.5%, and softening was delayed by 48 h. On the fourth day, the decay prediction model achieved a PSNR of 72.66 (an improvement of 11.01% compared to ConvLSTM) and an MAE reduced to 0.026 (a 55.1% decrease in error). This method achieves closed-loop optimization of preservation treatment and decay prediction, providing a novel paradigm for intelligent preservation of perishable foods.</p>\u0000 </div>","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 3","pages":"1415-1431"},"PeriodicalIF":5.2,"publicationDate":"2026-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147708321","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":"","authors":"","doi":"","DOIUrl":"","url":null,"abstract":"","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 4","pages":"2914-2933"},"PeriodicalIF":5.2,"publicationDate":"2026-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148062481","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":"","authors":"","doi":"","DOIUrl":"","url":null,"abstract":"","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 4","pages":"2901-2913"},"PeriodicalIF":5.2,"publicationDate":"2026-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148098756","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":"","authors":"","doi":"","DOIUrl":"","url":null,"abstract":"","PeriodicalId":192,"journal":{"name":"Journal of Field Robotics","volume":"43 4","pages":"2867-2884"},"PeriodicalIF":5.2,"publicationDate":"2026-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148098232","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}