Robotics and Autonomous Systems最新文献_第3页

Topology-shape-size optimization design synthesis of compliant grippers for robotics: A comprehensive review and prospective advances 机器人柔性夹持器的拓扑形状尺寸优化设计与综合：综述与展望

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-06-06 DOI: 10.1016/j.robot.2025.105106

Thanh-Phong Dao , Hieu Giang Le , Nhat Linh Ho

{"title":"Topology-shape-size optimization design synthesis of compliant grippers for robotics: A comprehensive review and prospective advances","authors":"Thanh-Phong Dao , Hieu Giang Le , Nhat Linh Ho","doi":"10.1016/j.robot.2025.105106","DOIUrl":"10.1016/j.robot.2025.105106","url":null,"abstract":"<div><div>Compliant grippers have been playing a critically important role in robotics and autonomous systems. This review explores the utilization of topology, shape, and size optimization strategies in the conceptualization and advancement of compliant grippers. More than the two last decades, it highlights significant progress in structural optimization techniques and their application within compliant gripper synthesis. The core methodologies include topology optimization for effective material distribution, shape optimization for refining geometries, and size optimization for enhancing dimensional efficiency. Such these design methods are analyzed alongside their computational complexities and real-world applications. Additionally, this review examines emerging trends such as hybrid optimization approaches and their capacity to address multi-objective challenges. By providing a detailed synthesis, this paper offers a valuable resource for engineers and researchers, shedding light on existing constraints and outlining prospective avenues for innovation in the design advancement and structural optimization of compliant grippers for the robotic and automation industry.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105106"},"PeriodicalIF":4.3,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144280951","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

Cooperative Formation Control Strategy for Multi-robot System Based on APF Algorithm and Sliding Mode Estimator 基于APF算法和滑模估计的多机器人系统协同编队控制策略

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-06-06 DOI: 10.1016/j.robot.2025.105075

Heyang Wang , Ming Yue , Xu Sun , Xudong Zhao

{"title":"Cooperative Formation Control Strategy for Multi-robot System Based on APF Algorithm and Sliding Mode Estimator","authors":"Heyang Wang , Ming Yue , Xu Sun , Xudong Zhao","doi":"10.1016/j.robot.2025.105075","DOIUrl":"10.1016/j.robot.2025.105075","url":null,"abstract":"<div><div>In this paper, a cooperative formation control strategy for the multi-robot system based on sliding mode estimator and Artificial Potential Field (APF) algorithm is proposed to solve the problem of formation maintenance, trajectory tracking and collision avoidance in a multi-obstacle environment. The desired information of the formation robots is given by a virtual leader, and the state information of the virtual leader can only be obtained by some of the follower robots. Firstly, based on the consensus algorithm, a finite time distributed sliding mode estimator is designed for each follower robots to obtain the desired information. Secondly, based on the error information of the follower robots, a distributed Model Predictive Control (MPC) formation controller is designed to address the issues of forming and maintaining a desired formation while tracking an desired trajectory. Then, an obstacle avoidance function of the multi-robot formation for obstacle avoidance and collision avoidance is constructed based on the APF algorithm, and a Lyapunov function is designed for stability analysis. The estimator and controller are combined to form a formation cooperative control strategy, which together ensure the formation structural performance and safety stability of the multi-robot system. Finally, simulation experiments are conducted to verify the effectiveness and robustness of the proposed cooperative control strategy by combining typical roads and actual obstacle scenarios in an intelligent factory environment.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105075"},"PeriodicalIF":4.3,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144242177","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

End-to-end action model learning from demonstration in collaborative robotics 基于协作机器人演示的端到端动作模型学习

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-06-04 DOI: 10.1016/j.robot.2025.105071

Andrea Maria Zanchettin

{"title":"End-to-end action model learning from demonstration in collaborative robotics","authors":"Andrea Maria Zanchettin","doi":"10.1016/j.robot.2025.105071","DOIUrl":"10.1016/j.robot.2025.105071","url":null,"abstract":"<div><div>Access to advanced technology is crucial across all engineering disciplines. In the realm of industrial automation, collaborative robotics serves as a key solution, particularly for small or medium-sized enterprises facing frequent shifts in production demands. This paper introduces a Symbolic Programming by Demonstration approach to efficiently configure and operate a collaborative robotics workstation. While motion profiles (i.e., the <em>how</em>) are taught through the commonly used lead-through programming method, the conditions to check before the execution of a motion and its impact on the environment (the <em>when</em> and <em>what</em>, respectively) are automatically derived using visual feedback. Differently from related works, the present methodology does not require a pre-compiled domain knowledge to encode the semantic characterisation of a demonstrated action (i.e., preconditions and effects). An industrially-relevant use-case, consisting in a collaborative robotics assembly application, is introduced to validate the approach. Results show high success rates in interpreting and solving user-defined tasks (i.e., goals) as well as the capability of the method to generalise well in situations never seen during the acquired demonstrations.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105071"},"PeriodicalIF":4.3,"publicationDate":"2025-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144231418","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

Position-based visual servo control without hand-eye calibration 基于位置的视觉伺服控制，无需手眼校准

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-06-04 DOI: 10.1016/j.robot.2025.105045

Erica Salvato , Franco Blanchini , Gianfranco Fenu , Giulia Giordano , Felice Andrea Pellegrino

引用次数: 0

Ant-inspired navigation algorithm based on visual landmarks 基于视觉地标的蚁群导航算法

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-06-03 DOI: 10.1016/j.robot.2025.105082

Irina Karpova

{"title":"Ant-inspired navigation algorithm based on visual landmarks","authors":"Irina Karpova","doi":"10.1016/j.robot.2025.105082","DOIUrl":"10.1016/j.robot.2025.105082","url":null,"abstract":"<div><div>This paper describes a method for mobile robot navigation that is similar to the navigation mechanism of social insects. Unlike other bio-inspired methods that mimic certain morphological features of animals or separate natural mechanisms, the proposed approach is based on the phenomenology of the behaviour of some ant species during collective foraging. This method does not require a map, but allows a robot to memorize a path from the \"nest\" to the food resource based on visual landmarks, compass data (the skylight compass in insects) and the time component. The path is represented by a sequence of movements that takes the robot from one support landmark to another, as in ants. The remembered route allows the robot not only to return to the starting point, but also to repeat the route. The path built by the robot is not optimal, and the robot repeats this path approximately. However, the method does not require precise positioning and high accuracy of the sensors. The developed route description format is compact, because it only contains a sequence of directions to support landmarks, distances to them, and the amount of time the robot spent on the way from one landmark to another. A key feature of this solution is the implementation of route transmission from the scout to the forager via low-speed communication channels, for example, using the RC-5 infrared communication protocol. The method has been tested in simulations and on real robots in an indoor testing ground. In addition, due to specific architectural and technical solutions focused on modeling behaviour and the use of dimensionless parameters, the transition from simulation models to the management of technical objects (robots) can be made without the physical modeling stage, which makes development easier and cheaper.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105082"},"PeriodicalIF":4.3,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144195263","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

Optimizing exploration with a new uncertainty framework for active SLAM systems 基于新不确定性框架的主动SLAM系统优化勘探

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-06-02 DOI: 10.1016/j.robot.2025.105059

Sebastian Sansoni , Javier Gimenez , Gastón Castro , Santiago Tosetti , Flavio Capraro

{"title":"Optimizing exploration with a new uncertainty framework for active SLAM systems","authors":"Sebastian Sansoni , Javier Gimenez , Gastón Castro , Santiago Tosetti , Flavio Capraro","doi":"10.1016/j.robot.2025.105059","DOIUrl":"10.1016/j.robot.2025.105059","url":null,"abstract":"<div><div>Accurate reconstruction of the environment is a central goal of Simultaneous Localization and Mapping (SLAM) systems. However, the agent’s trajectory can significantly affect estimation accuracy. This paper presents a new method to model map uncertainty in Active SLAM systems using an Uncertainty Map (UM). The UM uses probability distributions to capture the spatial distribution of map uncertainty, allowing Uncertainty Frontiers (UF) to be defined as key exploration–exploitation objectives and potential stopping criteria. In addition, the method introduces the Signed Relative Entropy (SiREn), based on the Kullback–Leibler divergence, to measure both coverage and uncertainty together. This helps balance exploration and exploitation through an easy-to-understand parameter.</div><div>Unlike methods that depend on particular SLAM setups, the proposed approach is compatible with different types of sensors, such as cameras, LiDARs, and multi-sensor fusion. It also addresses common problems in exploration planning and stopping conditions. Furthermore, integrating this map modeling approach with a UF-based planning system enables the agent to autonomously explore open spaces, a behavior not previously observed in the Active SLAM literature.</div><div>Code and implementation details are available as a ROS node, and all generated data are openly available for public use, facilitating broader adoption and validation of the proposed approach.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105059"},"PeriodicalIF":4.3,"publicationDate":"2025-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144189568","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

Guaranteed rejection-free sampling method using past behaviours for motion planning of autonomous systems 基于过去行为的自主系统运动规划保证无排斥采样方法

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-06-02 DOI: 10.1016/j.robot.2025.105070

Thomas T. Enevoldsen , Roberto Galeazzi

引用次数: 0

Recent advancements in soft ankle/knee exoskeletons technologies: systems, actuation and control 软踝/膝关节外骨骼技术的最新进展：系统、驱动和控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-31 DOI: 10.1016/j.robot.2025.105092

Harsh Harikrishnan Soni , Pranjal Sharma , Mervin Joe Thomas , C.M.C. Krishnan , Abhilash Singh

{"title":"Recent advancements in soft ankle/knee exoskeletons technologies: systems, actuation and control","authors":"Harsh Harikrishnan Soni , Pranjal Sharma , Mervin Joe Thomas , C.M.C. Krishnan , Abhilash Singh","doi":"10.1016/j.robot.2025.105092","DOIUrl":"10.1016/j.robot.2025.105092","url":null,"abstract":"<div><div>Exoskeletons are widely used for both rehabilitation purposes and physiotherapy applications. The continuously increasing elderly population and the number of people needing assistance due to certain illnesses or accidents demand more of such effective wearable devices. Researchers are increasingly focusing on developing exoskeletons for specific areas of the human body consequently making the device affordable and less complex. Recent times have shown a transition towards the use of soft materials in constructing exoskeletons. This is because of its superior flexibility, compactness, lightweight, variability and ability to work in parallel to human muscle fibre. The objective of this paper is to give both qualitative and quantitative information on the suitability of different soft smart materials in constructing lower limb exoskeletons, especially, ankle and knee joints. The various actuation means using soft materials, their unique characteristics, performance, and the various control methods employed are discussed in this paper. Factors such as durability, fatigue life, actuation force, displacement achieved, feedback delays, ease of usage, ergonomics, and cost affect the performance and functionality of the exoskeleton. Even though there have been a lot of developments in soft exoskeletons, further improvements are still necessary for their implementation on a commercial scale. The merits and limitations seen with recently developed soft ankle/knee exoskeletons are presented and the possible prospects to improve their effectiveness are also highlighted in this paper.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105092"},"PeriodicalIF":4.3,"publicationDate":"2025-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144231419","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

Integrated dynamic task allocation via event-triggered for tracking ground moving targets by UAVs in urban 基于事件触发的城市无人机跟踪地面运动目标集成动态任务分配

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-29 DOI: 10.1016/j.robot.2025.105061

Chaofang Hu , Yuan Li , Ge Qu

{"title":"Integrated dynamic task allocation via event-triggered for tracking ground moving targets by UAVs in urban","authors":"Chaofang Hu , Yuan Li , Ge Qu","doi":"10.1016/j.robot.2025.105061","DOIUrl":"10.1016/j.robot.2025.105061","url":null,"abstract":"<div><div>For multiple unmanned aerial vehicles (UAVs), real-time task allocation is essential in cooperative and persistent tracking of multiple ground moving targets (GMTs) in urban. In this paper, an integrated dynamic task allocation method via event-triggered is proposed. Firstly, a time-varying zero–one integer programming (ZOIP) model is built for task allocation and the receding horizon framework is proposed for path planning such that a mixed integer nonlinear programming (MINLP) problem is formulated. Using the relaxed order of satisfactory degrees, a fuzzy satisfaction goal programming model with three objectives and priorities is designed as the time-varying reward in the integrated task allocation. Secondly, in order to reduce the computational load, an event-triggered mechanism with three triggering conditions is designed to conduct switch of integrated optimization and pure path planning. Thirdly, in view of the difficulty of solving the integrated task allocation MINLP model, a binary hybrid particle swarm optimization (BHPSO) algorithm is employed. Finally, simulations validate that the proposed method is effective and efficient.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105061"},"PeriodicalIF":4.3,"publicationDate":"2025-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144204695","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

Robust fault-tolerant control of quadrotors under simultaneous multiple faults and input/state delays 多故障和输入/状态延迟下的四旋翼鲁棒容错控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-05-26 DOI: 10.1016/j.robot.2025.105088

Mir Omid Mobayyen , Farhad Bayat , Saleh Mobayen

{"title":"Robust fault-tolerant control of quadrotors under simultaneous multiple faults and input/state delays","authors":"Mir Omid Mobayyen , Farhad Bayat , Saleh Mobayen","doi":"10.1016/j.robot.2025.105088","DOIUrl":"10.1016/j.robot.2025.105088","url":null,"abstract":"<div><div>In this article, a robust fault-tolerant control strategy is proposed to effectively manage the challenges associated with tracking the position and attitude of a quadrotor. From a practical perspective, a robust controller is designed for the quadrotor to effectively manage faults in actuators and sensors, external disturbances, and uncertainties in design and modeling. Furthermore, input and state delays are also considered alongside these challenges. To achieve this, a fault-tolerant control mechanism is designed and combined with a dynamic sliding mode controller to mitigate the negative effects of delays, disturbances, and uncertainties. The robust stability and performance of the proposed methods are first demonstrated using the Lyapunov theory. To verify the technique's effectiveness and feasibility, high-fidelity simulations and experiments are conducted with a Speedgoat real-time target machine, and the results are compared with two existing state of the art approaches. The results demonstrate a high convergence rate and enhanced resilience in navigating complex paths despite various faults, delays, and uncertainties.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"193 ","pages":"Article 105088"},"PeriodicalIF":4.3,"publicationDate":"2025-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144222384","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