Frontiers in Robotics and AI最新文献_第8页

Large language model-driven natural language interaction control framework for single-operator bimanual teleoperation. 基于大语言模型驱动的单操作员手动遥操作自然语言交互控制框架。

IF 3

Frontiers in Robotics and AI Pub Date : 2025-07-17 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1621033

Haolin Fei, Tao Xue, Yiyang He, Sheng Lin, Guanglong Du, Yao Guo, Ziwei Wang

{"title":"Large language model-driven natural language interaction control framework for single-operator bimanual teleoperation.","authors":"Haolin Fei, Tao Xue, Yiyang He, Sheng Lin, Guanglong Du, Yao Guo, Ziwei Wang","doi":"10.3389/frobt.2025.1621033","DOIUrl":"10.3389/frobt.2025.1621033","url":null,"abstract":"Bimanual teleoperation imposes cognitive and coordination demands on a single human operator tasked with simultaneously controlling two robotic arms. Although assigning each arm to a separate operator can distribute workload, it often leads to ambiguities in decision authority and degrades overall efficiency. To overcome these challenges, we propose a novel bimanual teleoperation large language model assistant (BTLA) framework, an intelligent co-pilot that augments a single operator's motor control capabilities. In particular, BTLA enables operators to directly control one robotic arm through conventional teleoperation while directing a second assistive arm via simple voice commands, and therefore commanding two robotic arms simultaneously. By integrating the GPT-3.5-turbo model, BTLA interprets contextual voice instructions and autonomously selects among six predefined manipulation skills, including real-time mirroring, trajectory following, and autonomous object grasping. Experimental evaluations in bimanual object manipulation tasks demonstrate that BTLA increased task coverage by 76.1 <math><mrow><mi>%</mi></mrow> </math> and success rate by 240.8 <math><mrow><mi>%</mi></mrow> </math> relative to solo teleoperation, and outperformed dyadic control with a 19.4 <math><mrow><mi>%</mi></mrow> </math> gain in coverage and a 69.9 <math><mrow><mi>%</mi></mrow> </math> gain in success. Furthermore, NASA Task Load Index (NASA-TLX) assessments revealed a 38-52 <math><mrow><mi>%</mi></mrow> </math> reduction in operator mental workload, and 85 <math><mrow><mi>%</mi></mrow> </math> of participants rated the voice-based interaction as \"natural\" and \"highly effective.\"","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1621033"},"PeriodicalIF":3.0,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12310453/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144761779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A model-based approach to automation of formal verification of ROS 2-based systems. 基于模型的方法实现基于ROS 2系统的形式化验证的自动化。

IF 3

Frontiers in Robotics and AI Pub Date : 2025-07-16 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1592523

Lukas Dust, Rong Gu, Saad Mubeen, Mikael Ekström, Cristina Seceleanu

{"title":"A model-based approach to automation of formal verification of ROS 2-based systems.","authors":"Lukas Dust, Rong Gu, Saad Mubeen, Mikael Ekström, Cristina Seceleanu","doi":"10.3389/frobt.2025.1592523","DOIUrl":"https://doi.org/10.3389/frobt.2025.1592523","url":null,"abstract":"Formal verification of robotic applications, particularly those based on ROS 2, is desirable for ensuring correctness and safety. However, the complexity of formal methods and the manual effort required for model creation and parameter extraction often hinder their adoption. This paper addresses these challenges by proposing a model-based methodology that automates the formal verification process using model-driven engineering techniques. We introduce a methodology which can be applied as a toolchain that automates the initialization of formal model templates in UPPAAL using system parameters derived from ROS 2 execution traces generated by the ROS2_tracing tool. The toolchain employs four model representations based on custom Eclipse Ecore metamodels to capture both structural and verification aspects of ROS 2 systems. The methodology supports both implemented and conceptual systems and enables iterative verification of timing and scheduling parameters through model-to-model and model-to-text transformations. A proof-of-concept implementation demonstrates the feasibility of the proposed approach. The designed toolchain supports verification using two types of UPPAAL models: one for individual node verification (e.g., callback latency and buffer overflow) and another for end-to-end latency analysis of ROS 2 processing chains. Experiments conducted on two implemented and one conceptual ROS 2 systems validate the correctness and adaptability of the toolchain. The results show that the toolchain can automate parameter extraction and model generation. The proposed methodology modularizes the verification process, allowing domain experts to focus on their areas of expertise. It targets to enhances traceability and reusability across different verification scenarios and formal models. The approach aims to make formal verification more accessible and practical to robotics developers.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1592523"},"PeriodicalIF":3.0,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12308702/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144754829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Versatile kinematics-based constraint identification applied to robot task reproduction. 基于多用途运动学的约束识别在机器人任务再现中的应用。

IF 3

Frontiers in Robotics and AI Pub Date : 2025-07-15 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1574110

Alex H G Overbeek, Douwe Dresscher, Herman van der Kooij, Mark Vlutters

{"title":"Versatile kinematics-based constraint identification applied to robot task reproduction.","authors":"Alex H G Overbeek, Douwe Dresscher, Herman van der Kooij, Mark Vlutters","doi":"10.3389/frobt.2025.1574110","DOIUrl":"10.3389/frobt.2025.1574110","url":null,"abstract":"Identifying kinematic constraints between a robot and its environment can improve autonomous task execution, for example, in Learning from Demonstration. Constraint identification methods in the literature often require specific prior constraint models, geometry or noise estimates, or force measurements. Because such specific prior information or measurements are not always available, we propose a versatile kinematics-only method. We identify constraints using constraint reference frames, which are attached to a robot or ground body and may have zero-velocity constraints along their axes. Given measured kinematics, constraint frames are identified by minimizing a norm on the Cartesian components of the velocities expressed in that frame. Thereby, a minimal representation of the velocities is found, which represent the zero-velocity constraints we aim to find. In simulation experiments, we identified the geometry (position and orientation) of twelve different constraints including articulated contacts, polyhedral contacts, and contour following contacts. Accuracy was found to decrease linearly with sensor noise. In robot experiments, we identified constraint frames in various tasks and used them for task reproduction. Reproduction performance was similar when using our constraint identification method compared to methods from the literature. Our method can be applied to a large variety of robots in environments without prior constraint information, such as in everyday robot settings.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1574110"},"PeriodicalIF":3.0,"publicationDate":"2025-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12303821/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144745486","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Learning-based control for tendon-driven continuum robotic arms. 基于学习的肌腱驱动连续机械臂控制。

IF 3

Frontiers in Robotics and AI Pub Date : 2025-07-14 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1488869

Nima Maghooli, Omid Mahdizadeh, Mohammad Bajelani, S Ali A Moosavian

{"title":"Learning-based control for tendon-driven continuum robotic arms.","authors":"Nima Maghooli, Omid Mahdizadeh, Mohammad Bajelani, S Ali A Moosavian","doi":"10.3389/frobt.2025.1488869","DOIUrl":"10.3389/frobt.2025.1488869","url":null,"abstract":"Tendon-Driven Continuum Robots are widely recognized for their flexibility and adaptability in constrained environments, making them invaluable for most applications, such as medical surgery, industrial tasks, and so on. However, the inherent uncertainties and highly nonlinear dynamics of these manipulators pose significant challenges for classical model-based controllers. Addressing these challenges necessitates the development of advanced control strategies capable of adapting to diverse operational scenarios. This paper presents a centralized position control strategy using Deep Reinforcement Learning, with a particular focus on the Sim-to-Real transfer of control policies. The proposed method employs a customized Modified Transpose Jacobian control strategy for continuum arms, where its parameters are optimally tuned using the Deep Deterministic Policy Gradient algorithm. By integrating an optimal adaptive gain-tuning regulation, the research aims to develop a model-free controller that achieves superior performance compared to ideal model-based strategies. Both simulations and real-world experiments demonstrate that the proposed controller significantly enhances the trajectory-tracking performance of continuum manipulators. The proposed controller achieves robustness across various initial conditions and trajectories, making it a promising candidate for general-purpose applications.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1488869"},"PeriodicalIF":3.0,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12301621/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144733962","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Building trust in the age of human-machine interaction: insights, challenges, and future directions. 在人机交互时代建立信任：见解、挑战和未来方向。

IF 3

Frontiers in Robotics and AI Pub Date : 2025-07-14 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1535082

Sakshi Chauhan, Shashank Kapoor, Malika Nagpal, Gitanshu Choudhary, Varun Dutt

引用次数: 0

Project-based learning with arduino robots: impact on undergraduate students' achievement and task persistence in robotics programming. 基于项目的arduino机器人学习：对大学生机器人编程成绩和任务持久性的影响

IF 3

Frontiers in Robotics and AI Pub Date : 2025-07-10 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1615427

Fadip Audu Nannim, Nnenna E Ibezim, Moeketsi Mosia, Basil C E Oguguo

{"title":"Project-based learning with arduino robots: impact on undergraduate students' achievement and task persistence in robotics programming.","authors":"Fadip Audu Nannim, Nnenna E Ibezim, Moeketsi Mosia, Basil C E Oguguo","doi":"10.3389/frobt.2025.1615427","DOIUrl":"10.3389/frobt.2025.1615427","url":null,"abstract":"Introduction: Programming is a fundamental skill in the 21st century, yet there is a global shortage of skilled programmers for high-tech jobs. This study determined the effects of Project-Based Arduino Robot Application (PARA) on undergraduate students' achievement and task persistence in robotics programming.Methods: The quasi-experimental research design was adopted for the study. A sample of 74 second-year computer and robotics education students from three intact classes in three tertiary institutions offering robotics programming II were selected forthe study.Results and discussion: PARA improved the academic achievement of students in robotics programming (63.00 ± 16.81) more than the conventional method, which uses Interactive PowerPoint (IPP) (43.79 ± 12.07). PARA improved the task persistence of students in robotics programming (73.75 ± 13.46) more than the conventional method (40.00 ± 13.70). Male students taught robotics programming using PARA had a slightly higher mean achievement score (69.60 ± 11.50) than their female counterparts (52.00 ± 19.43). Female students taught robotics programming using PARA had a slightly higher mean task persistence score (78.67 ± 11.96) than their male counterparts (70.80 ± 14.02). There was a significant difference (p < 0.05) in students' mean achievement scores based on the instruction method used in teaching robotics programming, among others. These findings have implications for instructing students who find robotics programming difficult and abstract.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1615427"},"PeriodicalIF":3.0,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12286792/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144709442","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Hybrid disturbance observer and fuzzy logic controller for a new aerial manipulation system. 一种新型航空操纵系统的混合扰动观测器和模糊控制器。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-07-07 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1528415

Alaa Khalifa, Shaaban M Shaaban, Ahmed Khalifa

{"title":"Hybrid disturbance observer and fuzzy logic controller for a new aerial manipulation system.","authors":"Alaa Khalifa, Shaaban M Shaaban, Ahmed Khalifa","doi":"10.3389/frobt.2025.1528415","DOIUrl":"10.3389/frobt.2025.1528415","url":null,"abstract":"Aerial manipulation systems are highly attractive for various applications due to their distinctive features. However, the systems discussed in the literature are constrained by either a restricted number of end-effector degrees of freedom (DOFs) or low payload capability. In our previous research, we mounted a manipulator with a gripper on the underside of a quadrotor to enhance environmental interaction. This paper explores a quadrotor equipped with a 2-DOF manipulator featuring a distinctive topology that allows the end-effector to follow a specified 6-DOF trajectory with the least number of actuators required. An overview of the proposed manipulation system, along with its kinematic and dynamic analysis, is presented. Nevertheless, controlling this system presents significant challenges because of its considerable couplings, nonlinearities, and external disturbances. This paper employs a Disturbance Observer (DOb)-based linearization for an aerial manipulation robot. The DOb-based inner loop is responsible for estimating and compensating nonlinearities and disturbances, which simplifies the control problem into a more straightforward linear control algorithm. Subsequently, a fuzzy logic controller is incorporated into the outer loop to achieve the desired control objectives and closed-loop performance while minimizing computational load. Stability analysis of the proposed controller is introduced. Finally, the system is simulated using MATLAB/SIMULINK, and the results demonstrate tracking accuracy during 6-DOF maneuvers under many kinds of disturbances, with low computational load. The system maintains stability during payload exchanges while respecting all actuator constraints (rotor thrust less than 6 N, joint torques less than 0.7 and 0.4 N.m, respectively). These results demonstrate the effectiveness of the proposed control approach. Also, they show that the proposed controller outperforms the DOb-PD controller's response.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1528415"},"PeriodicalIF":2.9,"publicationDate":"2025-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12277165/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144683395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Rehabilitation robotics and allied digital technologies: opportunities, barriers and solutions for improving their clinical implementation. A position paper from the Fit for Medical Robotics Initiative. 康复机器人和相关数字技术：改善其临床实施的机会、障碍和解决方案。适合医疗机器人计划的立场文件。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-07-03 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1531067

Irene Giovanna Aprile, Silvana Quaglini, Giuseppe Turchetti, Leandro Pecchia, Giovanni Comandè, Furio Gramatica, Emanuele Gruppioni, Giuseppina Sgandurra, Christian Cipriani

{"title":"Rehabilitation robotics and allied digital technologies: opportunities, barriers and solutions for improving their clinical implementation. A position paper from the Fit for Medical Robotics Initiative.","authors":"Irene Giovanna Aprile, Silvana Quaglini, Giuseppe Turchetti, Leandro Pecchia, Giovanni Comandè, Furio Gramatica, Emanuele Gruppioni, Giuseppina Sgandurra, Christian Cipriani","doi":"10.3389/frobt.2025.1531067","DOIUrl":"10.3389/frobt.2025.1531067","url":null,"abstract":"Robotics has been proposed as a promising solution for treating individuals with motor, sensory, and/or cognitive disabilities. Despite the great technological effort put into this field, the translation of robots from the laboratory to the clinical environment is not a seamless and smooth process, and their real-world adoption remains limited. Several barriers to the introduction of robotics in clinical practice have been identified, including a lack of sufficient scientific evidence about its actual cost/effectiveness, resistance to adopting these technologies, and economic, ethical, and regulatory restraints. Fit for Medical Robotics (Fit4MedRob) is an ambitious Initiative designed to bridge the gap between technological innovation and clinical application. One of the main goals of the Initiative is to conduct large-scale pragmatic trials to evaluate the effectiveness and the sustainability of commercially available robotic solutions. To guide the design of these trials, different online surveys have been implemented and delivered to identify the needs of healthcare practitioners and patients at different phases of the disease (acute to chronic) and therapeutic settings (hospital to home care). The results of the Initiative will suggest new organizational models to effectively introduce robotics-assisted rehabilitation into clinical practice. The paper will report on the opportunities of robotics for rehabilitation, the barriers to their clinical implementation, and the proposal of Fit4MedRob to overcome such limitations and facilitate the effective clinical implementation of robotic solutions.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1531067"},"PeriodicalIF":2.9,"publicationDate":"2025-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12268264/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144660780","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Editorial: Bio-inspired legged robotics: design, sensing and control. 编辑：仿生腿机器人：设计、传感和控制。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-07-03 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1600814

Ting Zou

引用次数: 0

Robots for learning: an exploration of teacher roles, perceptions, and challenges in robot-mediated learning. 机器人学习：机器人中介学习中教师角色、认知和挑战的探索。

IF 2.9

Frontiers in Robotics and AI Pub Date : 2025-07-01 eCollection Date: 2025-01-01 DOI: 10.3389/frobt.2025.1441382

Veronica Ahumada-Newhart, Jacquelynne S Eccles

{"title":"Robots for learning: an exploration of teacher roles, perceptions, and challenges in robot-mediated learning.","authors":"Veronica Ahumada-Newhart, Jacquelynne S Eccles","doi":"10.3389/frobt.2025.1441382","DOIUrl":"10.3389/frobt.2025.1441382","url":null,"abstract":"With the increasing popularity of robots for learning, many educational organizations are using telepresence robots for the purpose of remote education. However, as robot-mediated learning is important for the learning experiences of remote and local interactants, it is also important to understand teacher roles and robot design features needed to facilitate these roles in robot-mediated learning experiences. In this paper, we present findings from analysis of a national, multi-case study, where we explore how (N = 60) K-12 teachers perceive their roles in teaching hybrid classrooms where a remote learner used a robot to attend a physical classroom with in-person classmates. This paper presents a qualitative study of the perceived roles for teachers in hybrid classrooms where a remote learner uses a telepresence robot to participate in learning activities. In 46 semi-structured interviews (n = 46) and 6 focus group interviews (n = 2; n = 3; n = 2; n = 3; n = 2; n = 2), coded with a computer assisted qualitative data analysis software (i.e., ATLAS.ti), we captured adapted roles enacted by teachers in robot-mediated learning experiences. First, we present empirical data on educator perceptions of teacher roles as they interact with mobile telepresence robots embodied by remote learners. Specifically, we explore perceptions and roles during in-class learning activities, in-school social activities, and learning preparation activities. Findings from our work will inform novel teacher-centered robot and HRI design that facilitates teaching hybrid classrooms. Findings will also inform future interdisciplinary studies on robot-mediated learning.","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1441382"},"PeriodicalIF":2.9,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12260244/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144643814","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0