Robotics and Autonomous Systems最新文献_第6页

Design and development of a locomotion interface for virtual reality lower-body haptic interaction 虚拟现实下体触觉交互运动界面的设计与开发

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-28 DOI: 10.1016/j.robot.2025.104994

An-Chi He, Jungsoo Park, Benjamin Beiter, Bhaben Kalita, Alexander Leonessa

{"title":"Design and development of a locomotion interface for virtual reality lower-body haptic interaction","authors":"An-Chi He, Jungsoo Park, Benjamin Beiter, Bhaben Kalita, Alexander Leonessa","doi":"10.1016/j.robot.2025.104994","DOIUrl":"10.1016/j.robot.2025.104994","url":null,"abstract":"<div><div>This work presents the design, build, control, and preliminary user data of a locomotion interface called ForceBot. It delivers lower-body haptic interaction in virtual reality (VR), enabling users to walk in VR while interacting with various simulated terrains. It utilizes two planar gantries to give each foot two degrees of freedom and passive heel-lifting motion. The design used motion capture data with dynamic simulation for ergonomic human–robot workspace and hardware selection. Its system framework uses open-source robotic software and pairs with a custom-built power delivery system that offers EtherCAT communication with a 1,000 Hz soft real-time computation rate. This system features an admittance controller to regulate physical human–robot interaction (pHRI) alongside a walking algorithm to generate walking motion and simulate virtual terrains. The system’s performance is explored through three measurements that evaluate the relationship between user input force and output pHRI motion. Overall, this platform presents a unique approach by utilizing planar gantries to realize VR terrain interaction with an extensive workspace, reasonably compact footprint, and preliminary user data.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104994"},"PeriodicalIF":4.3,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143785972","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

Tendon-driven based extensible soft robot with variable stiffness 基于肌腱驱动的可变刚度可扩展软机器人

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-27 DOI: 10.1016/j.robot.2025.104988

Ibrahim A. Seleem , Mohamed A. Naeem , Hiroshi Takemura , Hiroyuki Ishii

{"title":"Tendon-driven based extensible soft robot with variable stiffness","authors":"Ibrahim A. Seleem , Mohamed A. Naeem , Hiroshi Takemura , Hiroyuki Ishii","doi":"10.1016/j.robot.2025.104988","DOIUrl":"10.1016/j.robot.2025.104988","url":null,"abstract":"<div><div>Extensible soft continuum robots have ubiquitous adoption in confined and intricate environments, owing to their dexterity, wide workspace, and adaptable stiffness. However, their existing designs still encounter challenges such as bulky, limited bending angles, complex modeling and control, and low payload capacity. This article presents a compact design of extensible single-section soft robot-based tendon-driven actuation, consisting of three segments based on a semi-octagon honeycomb pattern. This design is fabricated by varying the soft structure to provide extensibility and variable stiffness by controlling tension and retraction of cables. It consists of three segments; the middle segment, resembling a flexible spring, is sandwiched between two identical segments. A shape estimation using Inertial Measurement Unit (IMU) and motors’ encoders combined with a Constant Curvature assumption, is developed. The design performance is experimentally evaluated by performing workspace reachability, repeatability, payload capability. Additionally, the variable stiffness is verified against external payloads. Furthermore, a design enhancement is carried out to overcome buckling at specific configurations, incorporating flexible hollow hoses embedded within the prototype’s structure. The results verify that the prototype could achieve extension and compression up to 30% and 65% relative to its lengths respectively, high payload capacity reaches 565 gm, and efficient stiffness variation. Moreover, using hollow tubes enhance the payload capability of the robot without significant effect on its original structure.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104988"},"PeriodicalIF":4.3,"publicationDate":"2025-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143769055","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

Magnetically actuated millimeter-scale biped 磁驱动毫米级两足动物

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-25 DOI: 10.1016/j.robot.2025.104985

Adam Cox, Farshid Asadi, Ammar Yacoub, Sinan Beskok, Yildirim Hurmuzlu

{"title":"Magnetically actuated millimeter-scale biped","authors":"Adam Cox, Farshid Asadi, Ammar Yacoub, Sinan Beskok, Yildirim Hurmuzlu","doi":"10.1016/j.robot.2025.104985","DOIUrl":"10.1016/j.robot.2025.104985","url":null,"abstract":"<div><div>This paper presents a novel approach to studying bipedal locomotion using magnetically actuated miniature robots. Traditional bipedal locomotion machines are expensive and complex. In contrast, we introduce “<em>Big Foot</em>”, a lightweight 0.3 g robot designed to explore fundamental concepts of bipedal locomotion without requiring complex hardware.</div><div>We introduce a novel design and actuation mechanism for the magnetically actuated miniature robot, followed by a numerical model to analyze its dynamics and stability. Two actuation schemes are investigated: heel strike-based and constant period actuation. Heel strike-based actuation provides superior stability, consistent gait generation, and faster locomotion, while constant period actuation excels on steeper slopes. Experimental validation with <em>Big Foot</em> confirms successful uphill gait generation and trajectory tracking. Additionally, we highlight the potential scalability of our approach, proposing an extension to a design similar to an inertially actuated larger-scale biped without joint actuation at the ankles or hips.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104985"},"PeriodicalIF":4.3,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143739270","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

High-safety path optimization for mobile robots using an improved ant colony algorithm with integrated repulsive field rules 基于集成排斥场规则的改进蚁群算法的移动机器人高安全路径优化

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-24 DOI: 10.1016/j.robot.2025.104998

Jianjuan Liu , Yiheng Qian , Wenzhuo Zhang , Miaoxin Ji , Qiangwei Xv , Hongliang Song

{"title":"High-safety path optimization for mobile robots using an improved ant colony algorithm with integrated repulsive field rules","authors":"Jianjuan Liu , Yiheng Qian , Wenzhuo Zhang , Miaoxin Ji , Qiangwei Xv , Hongliang Song","doi":"10.1016/j.robot.2025.104998","DOIUrl":"10.1016/j.robot.2025.104998","url":null,"abstract":"<div><div>This paper introduces an improved ant colony algorithm, AR-ACO (A*-Repulsive field-ACO), to enhance the efficiency of path planning for mobile robots in complex maps. This paper adopts six strategies to optimize the iterative process of the ACO algorithm and strengthen the selection of the optimal path. Firstly, inspired by the repulsive field characteristics of artificial potential fields, an Obstacle Impact Factor is introduced to identify the risk zones in the map and adjust the initial distribution of pheromones. Secondly, to ensure the global and discriminative nature of the map, a dynamic constraint is applied to pheromones, following the MAX-MIN Ant system. Thirdly, a novel backtracking mechanism is proposed to address deadlock situations and reduce computational burden. Fourthly, heuristic information in the ant colony algorithm is improved to accelerate convergence speed and enhance the smoothness of global paths. Fifthly, the evaporation factor pheromone formula has been improved to optimize the ability to cope with complex terrains. Additionally, an improved elite ant retention strategy is introduced to significantly enhance the ants' optimization capability while ensuring convergence speed. Simulation experiments and physical verifications conducted in various environments, especially in complex large-scale maps, demonstrate that the optimized algorithm outperforms traditional algorithms, confirming the effectiveness of the improved ant colony algorithm.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104998"},"PeriodicalIF":4.3,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143735001","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

A Safe, high-precision reinforcement learning-based optimal control of surgical continuum robots: A monotone tube boundary approach with prescribed-time control capability 基于安全、高精度强化学习的外科连续体机器人最优控制：具有规定时间控制能力的单调管边界方法

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-20 DOI: 10.1016/j.robot.2025.104992

Mohammad Jabari , Andrea Botta , Luigi Tagliavini , Carmen Visconte , Giuseppe Quaglia

{"title":"A Safe, high-precision reinforcement learning-based optimal control of surgical continuum robots: A monotone tube boundary approach with prescribed-time control capability","authors":"Mohammad Jabari , Andrea Botta , Luigi Tagliavini , Carmen Visconte , Giuseppe Quaglia","doi":"10.1016/j.robot.2025.104992","DOIUrl":"10.1016/j.robot.2025.104992","url":null,"abstract":"<div><div>This paper introduces a novel approach to the prescribed-time control of continuum surgical robots, focusing on four key areas: enhanced system safety, tailored transient tracking, steady-state tracking enhancement, and optimal learned control. The main contribution is the application of system state constraints on tracking error, transforming these constraints into an unconstrained problem using a monotone tube boundary. This method avoids the complexity of Model Predictive Control (MPC) and Control Barrier Functions (CBF) techniques, as well as the conservatism and fixed-boundary issues associated with the Barrier Lyapunov Function (BLF) method. By using a monotone tube boundary, the approach allows for the pre-assignment of transient characteristics for tracking error, avoiding excessive overshoot and lack of adjustability seen with the Prescribed Performance Function (PPF). The prescribed-time control philosophy enables pre-determination of settling time, enhancing precision and convergence rates essential for surgical applications. Additionally, an optimized prescribed-time control strategy using an actor-critic neural network-based Reinforcement Learning (RL) approach ensures controller optimality, reducing control effort, power consumption, and heat generation in the robot's actuators. The method adapts to dynamic environments, ensuring robust performance in various surgical scenarios. Simulation results on a two-segment continuum robot demonstrate the proposed method's advantages over state-of-the-art techniques.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104992"},"PeriodicalIF":4.3,"publicationDate":"2025-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143785973","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}

引用次数: 0

Imitation learning-based Direct Visual Servoing using the large projection formulation 基于模仿学习的大投影公式直接视觉伺服

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-20 DOI: 10.1016/j.robot.2025.104971

Sayantan Auddy , Antonio Paolillo , Justus Piater , Matteo Saveriano

引用次数: 0

Neural network-based intelligent perception guaranteed performance control for mechanical arm 基于神经网络的智能感知保证机械臂性能控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-18 DOI: 10.1016/j.robot.2025.104991

Chunwu Yin , Pei Yi , Xiangwei Bu

{"title":"Neural network-based intelligent perception guaranteed performance control for mechanical arm","authors":"Chunwu Yin , Pei Yi , Xiangwei Bu","doi":"10.1016/j.robot.2025.104991","DOIUrl":"10.1016/j.robot.2025.104991","url":null,"abstract":"<div><div>We concern with the intelligent perception control of a mechanical arm dynamic system with unknown initial state values, parameter perturbations, and external disturbances. Unlike existing prescribed performance control (PPC) methodologies which fail to preset convergence time via parameter setting, we propose a new type of PPC with predefined convergence time to impose prescribed behaviors on angle tracking errors. To accomplish such aim, we firstly define a predefined time stability criterion with an upper bound of convergence time that can be set in advance, and then we further convert the actual tracking error variable into a new variable with an initial value of zero by utilizing the error conversion function. Furthermore, a boundary amplitude intelligent extension algorithm is designed based on tracking error for performance constraint function (PCF), and meanwhile the radial basis function neural network (RBFNN) is adopted to approximate the mechanical arm system model. On this basis, a new PPC approach guaranteeing predefined convergence time is addressed for the mechanical arm system. Finally, the obtained simulation results reveal that the angle tracking error always evolves inside the extended boundary of the PCF, to satisfy better prescribed transient and steady-state properties in comparison with existing technics.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104991"},"PeriodicalIF":4.3,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704892","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

Towards a robotic intrusion prevention system: Combining security and safety in cognitive social robots 迈向机器人入侵防御系统：结合认知社会机器人的安全与安全

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-15 DOI: 10.1016/j.robot.2025.104959

Francisco Martín , Enrique Soriano-Salvador , José Miguel Guerrero , Gorka Guardiola Múzquiz , Juan Carlos Manzanares , Francisco J. Rodríguez

{"title":"Towards a robotic intrusion prevention system: Combining security and safety in cognitive social robots","authors":"Francisco Martín , Enrique Soriano-Salvador , José Miguel Guerrero , Gorka Guardiola Múzquiz , Juan Carlos Manzanares , Francisco J. Rodríguez","doi":"10.1016/j.robot.2025.104959","DOIUrl":"10.1016/j.robot.2025.104959","url":null,"abstract":"<div><div>Social Robots need to be safe and reliable to share their space with humans. This paper reports on the first results of a research project that aims to create more safe and reliable, intelligent autonomous robots by investigating the implications and interactions between cybersecurity and safety. We propose creating a robotic intrusion prevention system (RIPS) that follows a novel approach to detect and mitigate intrusions in cognitive social robot systems and other cyber–physical systems. The RIPS detects threats at the robotic communication level and enables mitigation of the cyber–physical threats by using <em>System Modes</em> to define what part of the robotic system reduces or limits its functionality while the system is compromised. We demonstrate the validity of our approach by applying it to a cognitive architecture running in a real social robot that preserves the privacy and safety of humans while facing several cyber attack situations.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"190 ","pages":"Article 104959"},"PeriodicalIF":4.3,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143725806","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

Optimal path planning for unmanned aerial vehicles with multiple round-trip flights in coverage tasks 覆盖任务中多次往返飞行的无人机最优路径规划

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-15 DOI: 10.1016/j.robot.2025.104970

Jing Li , Yonghua Xiong , Jinhua She , Anjun Yu

{"title":"Optimal path planning for unmanned aerial vehicles with multiple round-trip flights in coverage tasks","authors":"Jing Li , Yonghua Xiong , Jinhua She , Anjun Yu","doi":"10.1016/j.robot.2025.104970","DOIUrl":"10.1016/j.robot.2025.104970","url":null,"abstract":"<div><div>As high-tech equipment for rescue and relief, unmanned aerial vehicles (UAVs) are widely used in remote relief operations during disasters, significantly improving the efficiency of rescue efforts. However, one significant challenge of UAVs is the limitation of their onboard battery, which prohibits them from completing coverage tasks in a single journey, requiring multiple round-trip flights and frequent battery charging or replacement. As a result, it will greatly prolong the task time. To improve the efficiency of coverage tasks, we allocate task points reasonably to minimize the coverage rounds, and carry out path planning to optimize the travel time of each UAV. This study first formulates a path planning model with the optimization objective of minimizing the overall task time. Then, a task allocation strategy is designed based on the priority of task points, including a max-weight allocation scheme for special scenarios with absolute priority rules and a min-delay allocation scheme for general scenarios with relative priority rules. To optimize the paths of UAVs, we further develop an improved beetle antennae search algorithm based on mutation operations (MBAS). The performance of the developed integrated methods is finally tested through simulation, yielding good results. Source code of the algorithm can be found at <span><span>https://github.com/lijing0966/MBAS.git</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104970"},"PeriodicalIF":4.3,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143642690","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

Resilient nonlinear model predictive control for formation-containment of multi-mobile robot systems 多移动机器人系统地层安全壳弹性非线性模型预测控制

IF 4.3 2区计算机科学

Robotics and Autonomous Systems Pub Date : 2025-03-15 DOI: 10.1016/j.robot.2025.104983

Alireza Kazemi, Iman Sharifi

{"title":"Resilient nonlinear model predictive control for formation-containment of multi-mobile robot systems","authors":"Alireza Kazemi, Iman Sharifi","doi":"10.1016/j.robot.2025.104983","DOIUrl":"10.1016/j.robot.2025.104983","url":null,"abstract":"<div><div>This paper focuses on resilient nonlinear model predictive control (NMPC) for the formation containment of multiple nonholonomic mobile robots in the presence of Denial-of-Service (DoS) attacks. The proposed strategy addresses obstacle and collision avoidance between agents by defining a safe circular region for each agent. The scenario-based cost function of NMPC encompasses terms dedicated to achieving the desired formation by leaders, converging the states of followers to the convex hull spanned by leaders, and minimizing control efforts. Utilizing an acknowledgment-based packet transmission strategy, coupled with a buffer mechanism on the actuator side, alleviates the impact of control signal absence during DoS attacks on the controller-to-actuator (C-A) channel. As a Lyapunov-based approach, the contractive constraint in MPC is employed to establish the stability of Multi-Robot Systems (MRS) throughout the mission. A search and rescue application, utilized as a simulation case study, verifies the proposed method’s usefulness and efficiency. Moreover, In the evaluation of real-time implementation, the proposed scheme was validated through a laboratory-based experiment involving a customized mobile robot and low-cost hardware-in-the-loop (HIL) agents based on Raspberry Pi.</div></div>","PeriodicalId":49592,"journal":{"name":"Robotics and Autonomous Systems","volume":"189 ","pages":"Article 104983"},"PeriodicalIF":4.3,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143642689","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