IEEE Transactions on Robotics最新文献_第4页

A Biomimetic Rigid-Soft Hybrid Underwater Gripper With Compliance, Stability, Precise Control, and High Load Capacity 具有顺应性、稳定性、精确控制和高负载能力的仿生软硬混合水下抓手

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-04-18 DOI: 10.1109/TRO.2025.3562458

Fei Suo;Xiaolong Hui;Peixin Hua;Xuejian Bai;Jin Ma;Min Tan;Yu Wang

{"title":"A Biomimetic Rigid-Soft Hybrid Underwater Gripper With Compliance, Stability, Precise Control, and High Load Capacity","authors":"Fei Suo;Xiaolong Hui;Peixin Hua;Xuejian Bai;Jin Ma;Min Tan;Yu Wang","doi":"10.1109/TRO.2025.3562458","DOIUrl":"10.1109/TRO.2025.3562458","url":null,"abstract":"The complex underwater environment presents numerous challenges for the design of soft grippers, which often suffer from limited load capacity, poor stability, low portability, and imprecise control. This article proposes a novel rigid-soft hybrid gripper specifically designed for underwater use. The gripper's finger is constructed from silicone, reinforced with a multilink rigid exoskeleton on the outside, and actuated by tendons. This design provides three key advantages: compliance (capable of handling fragile objects such as a piece of tofu), heavy lifting (demonstrated by lifting an 80-kg barbell with three fingers), and precise, stable operation (the hybrid gripper maintains its shape despite water flow disturbances). In addition, the gripper is compact and lightweight, with the driving system powered by just four 23-g servo motors, making it easy to mount on various underwater robots. To enable precise control, both specialized kinematic and mechanics models were developed, allowing accurate predictions of the relationships among tendon displacement, exoskeleton deformation, soft material deformation, and tendon tension. This study thoroughly considers the challenges of underwater environments, offering new insights for advancing the field of underwater soft grasping.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"3099-3112"},"PeriodicalIF":9.4,"publicationDate":"2025-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143849755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Fast and Accurate 6-D Object Pose Refinement via Implicit Surface Optimization 通过隐式表面优化快速准确的6D对象姿态优化

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-04-18 DOI: 10.1109/TRO.2025.3562484

Bo Pang;Deming Zhai;Jianan Zhen;Long Wang;Xianming Liu

{"title":"Fast and Accurate 6-D Object Pose Refinement via Implicit Surface Optimization","authors":"Bo Pang;Deming Zhai;Jianan Zhen;Long Wang;Xianming Liu","doi":"10.1109/TRO.2025.3562484","DOIUrl":"10.1109/TRO.2025.3562484","url":null,"abstract":"Aligning a point cloud to a fixed 3-D model is a crucial task in many applications, such as 6-D pose estimation for robotic grasping. Typically, an initial pose is estimated by analyzing both the point cloud and the 3-D model, after which the iterative closest point (ICP) algorithm is used to refine the pose, reducing large errors and improving accuracy. In this article, we propose an accurate and efficient alternative to the ICP. Our method encodes the fixed 3-D model into an implicit neural network, which is trained offline as a one-time process in just a few minutes, requiring only the CAD model of the object. The network takes the point cloud and pose as inputs and outputs the signed distance field (SDF) value. By minimizing the absolute SDF value with the fixed point cloud and network weights, while optimizing the pose, we obtain the final precise alignment. The key advantage of our method is that it eliminates the need to explicitly establish one-to-one correspondences between the point cloud and the 3-D model, a necessary step in the ICP and its variants. This enables our framework to avoid local optima and makes it more robust to challenging conditions such as large initial pose gaps, noisy data, variations in scale, occlusions, and reflections. Furthermore, the end-to-end network of our framework offers significant runtime efficiency. We validate the superior performance of our approach through extensive comparisons with various ICP variants on both synthetic and real-world datasets.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"3129-3142"},"PeriodicalIF":9.4,"publicationDate":"2025-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143849775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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-order regularization dealing with ill-conditioned robot localization problems 高阶正则化处理病态机器人定位问题

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-04-18 DOI: 10.1109/tro.2025.3562487

Xinghua Liu, Ming Cao

引用次数: 0

ACSim: A Novel Acoustic Camera Simulator With Recursive Ray Tracing, Artifact Modeling, and Ground Truthing ACSim：一种具有递归光线追踪、伪影建模和地面真实性的新型声相机模拟器

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-04-16 DOI: 10.1109/TRO.2025.3562048

Yusheng Wang;Yonghoon Ji;Hiroshi Tsuchiya;Jun Ota;Hajime Asama;Atsushi Yamashita

{"title":"ACSim: A Novel Acoustic Camera Simulator With Recursive Ray Tracing, Artifact Modeling, and Ground Truthing","authors":"Yusheng Wang;Yonghoon Ji;Hiroshi Tsuchiya;Jun Ota;Hajime Asama;Atsushi Yamashita","doi":"10.1109/TRO.2025.3562048","DOIUrl":"10.1109/TRO.2025.3562048","url":null,"abstract":"We present a novel acoustic camera simulator that generates realistic sonar images by incorporating recursive ray tracing and sonar artifact modeling and provides various ground truth labels, enabling benchmarking and learning purposes. The 2-D forward-looking sonar, also known as the acoustic camera, produces high-quality 2-D images. Conducting real-world underwater experiments is challenging, making realistic sonar image simulation a necessary alternative. However, existing simulators often lack sufficient realism or are limited to specific scenes and phenomena. As a result, training on simulations and testing on real sonar images (i.e., sim-to-real) remain open problems for deep learning-based applications. Our work introduces a novel sonar simulator with a customized rendering engine. We use recursive ray tracing to model multipath reflections in arbitrary scenes and propose physics-based shading for intensity computation. We propose a resampling method for antialiasing and model significant artifacts, such as rolling shutter distortions and crosstalk noise. The simulator provides various ground truths for benchmarking and deep learning applications. We tested several tasks by training on synthetic images and demonstrated that the models also work on real images. We developed a Blender add-on for an enhanced user interface and will make the simulator open-source to advance future research.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2970-2989"},"PeriodicalIF":9.4,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10967163","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143841836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Heterogeneous Collaborative Pursuit via Coverage Control Driven by Fokker-Planck Equations 基于Fokker-Planck方程的覆盖控制的异质协同寻优

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-04-09 DOI: 10.1109/tro.2025.3559420

Ruoyu Lin, Soobum Kim, Magnus Egerstedt

引用次数: 0

Ultrarobust and Lightweight Electro-Pneumatic Actuators for Soft Robotics 用于软机器人的超强轻量级电-气执行器

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-04-09 DOI: 10.1109/TRO.2025.3559430

Zean Yuan;Jiaxing Li;Lifu Liu;Xinyu Zhu;Wenbiao Wang;Michael D. Dickey;Guo Zhan Lum;Pakpong Chirarattananon;Jun Luo;Rui Chen

{"title":"Ultrarobust and Lightweight Electro-Pneumatic Actuators for Soft Robotics","authors":"Zean Yuan;Jiaxing Li;Lifu Liu;Xinyu Zhu;Wenbiao Wang;Michael D. Dickey;Guo Zhan Lum;Pakpong Chirarattananon;Jun Luo;Rui Chen","doi":"10.1109/TRO.2025.3559430","DOIUrl":"10.1109/TRO.2025.3559430","url":null,"abstract":"Rigid robots can achieve precise motions but expose shortcomings in system complexity, fabrication cost, and human–robot interaction, which motivates researchers to develop various soft robots to fill these gaps. Electro-hydraulic actuators (EHAs) have received widespread attention and been used in many soft robots due to impressive high-strain, fast-speed, and rapid-response characteristics. However, existing EHAs face challenges in achieving large-deformation, high-robustness, and low-weight simultaneously. This limits the application of EHAs in robotic systems that are weight-sensitive or require fail-safe and fault-tolerant behavior. Here, we present a lightweight (0.98 g) electro-pneumatic actuator (EPA) filled with air and only 0.1-mL liquid dielectric, which achieves high-speed bending from 11° to 93.5° in 60 ms, large-angle bending from 11° to 104° in 2 s (the largest in current EHAs), and high-frequency swing at 20 Hz. The EPA is ultrarobust and can operate properly after being punctured by four needles or crushed twice by a 1500-kg vehicle. Furthermore, to validate the above features of EPAs, three applications are demonstrated at a voltage of 6 kV, including four-finger grippers, fast-crawling robots, and water-walking robots. This work pushes the boundaries of robustness and lightweight for EHAs, providing a foundation for the application of electro-pneumatic actuation in soft robotics.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2894-2910"},"PeriodicalIF":9.4,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143813762","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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 Learning-Based Method for Computing Self-Motion Manifolds of Redundant Robots for Real-Time Fault-Tolerant Motion Planning 基于学习的冗余机器人自运动流形计算方法及实时容错运动规划

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-04-09 DOI: 10.1109/TRO.2025.3559404

Charles L. Clark;Biyun Xie

{"title":"A Learning-Based Method for Computing Self-Motion Manifolds of Redundant Robots for Real-Time Fault-Tolerant Motion Planning","authors":"Charles L. Clark;Biyun Xie","doi":"10.1109/TRO.2025.3559404","DOIUrl":"10.1109/TRO.2025.3559404","url":null,"abstract":"The focus of this research is to develop a learning-based method that computes self-motion manifolds (SMMs) efficiently and accurately to enable real-time global fault-tolerant motion planning. The proposed method first develops a learnable, closed-form representation of SMMs based on Fourier series. A cellular automaton is then applied to cluster workspace locations having the same number of SMMs and group SMMs with similar shape by homotopy classes, such that the SMMs of each homotopy class can be accurately learned by a neural network. To approximate the SMMs of an arbitrary workspace location, a neural network is first trained to predict the set of homotopy classes belonging to this workspace location. For each set of homotopy classes, another neural network is trained to approximate the Fourier series coefficients of the SMMs, and the joint configurations along the SMMs can be retrieved using the inverse Fourier transform. The proposed method is validated on planar 3R positioning, spatial 4R positioning, and spatial 7R positioning and orienting robots, using 10 000 randomly sampled workspace locations each. The results show that the proposed method can approximate SMMs with high accuracy and is much faster than the traditionally used nullspace projection method, a sampling-based method, and a grid-based method. The performance of the proposed method in real-time fault-tolerant motion planning applications is also demonstrated using the simulation of the spatial 7R robot and physical experiments on a planar 3R robot. Due to the computational efficiency of the proposed method, both robots are able to quickly plan trajectories which maximize the likelihood of task completion after the failure of one arbitrary joint.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2879-2893"},"PeriodicalIF":9.4,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143813526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

NeuPAN: Direct Point Robot Navigation With End-to-End Model-Based Learning 基于端到端模型学习的直接点机器人导航

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-26 DOI: 10.1109/TRO.2025.3554252

Ruihua Han;Shuai Wang;Shuaijun Wang;Zeqing Zhang;Jianjun Chen;Shijie Lin;Chengyang Li;Chengzhong Xu;Yonina C. Eldar;Qi Hao;Jia Pan

{"title":"NeuPAN: Direct Point Robot Navigation With End-to-End Model-Based Learning","authors":"Ruihua Han;Shuai Wang;Shuaijun Wang;Zeqing Zhang;Jianjun Chen;Shijie Lin;Chengyang Li;Chengzhong Xu;Yonina C. Eldar;Qi Hao;Jia Pan","doi":"10.1109/TRO.2025.3554252","DOIUrl":"10.1109/TRO.2025.3554252","url":null,"abstract":"Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This article presents neural proximal alternating-minimization network (NeuPAN): a real-time, highly accurate, map-free, easy-to-deploy, and environment-invariant robot motion planner. Leveraging a tightly coupled perception-to-control framework, NeuPAN has two key innovations compared to existing approaches: first, it directly maps raw point cloud data to a latent distance feature space for collision-free motion generation, avoiding error propagation from the perception to control pipeline; second, it is interpretable from an end-to-end model-based learning perspective. The crux of NeuPAN is solving an end-to-end mathematical model with numerous point-level constraints using a plug-and-play proximal alternating-minimization network, incorporating neurons in the loop. This allows NeuPAN to generate real-time, physically interpretable motions. It seamlessly integrates data and knowledge engines, and its network parameters can be fine-tuned via backpropagation. We evaluate NeuPAN on a ground mobile robot, a wheel-legged robot, and an autonomous vehicle, in extensive simulated and real-world environments. Results demonstrate that NeuPAN outperforms existing baselines in terms of accuracy, efficiency, robustness, and generalization capabilities across various environments, including the cluttered sandbox, office, corridor, and parking lot. We show that NeuPAN works well in unknown and unstructured environments with arbitrarily shaped objects, transforming impassable paths into passable ones.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2804-2824"},"PeriodicalIF":9.4,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143723294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

Wrench Control of Dual-Arm Robot on Flexible Base With Supporting Contact Surface 支撑接触面柔性基座上双臂机器人的扳手控制

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-26 DOI: 10.1109/TRO.2025.3554411

Jeongseob Lee;Doyoon Kong;Hojun Cha;Jeongmin Lee;Dongseok Ryu;Hocheol Shin;Dongjun Lee

{"title":"Wrench Control of Dual-Arm Robot on Flexible Base With Supporting Contact Surface","authors":"Jeongseob Lee;Doyoon Kong;Hojun Cha;Jeongmin Lee;Dongseok Ryu;Hocheol Shin;Dongjun Lee","doi":"10.1109/TRO.2025.3554411","DOIUrl":"10.1109/TRO.2025.3554411","url":null,"abstract":"We propose a novel high-force/high-precision interaction control framework of a dual-arm robot system on a flexible base, with one arm holding, or making contact with, a supporting surface, while the other arm can exert any arbitrary wrench in a certain polytope through a desired pose against environments or objects. Our proposed framework can achieve high-force/precision tasks by utilizing the supporting surface just as we humans do while taking into account various important constraints (e.g., system stability, joint angle/torque limits, friction-cone constraint, etc.) and the passive compliance of the flexible base. We first design the control as a combination of: 1) nominal control; 2) active stiffness control; and 3) feedback wrench control. We then sequentially perform optimizations of the nominal configuration (and its related wrenches) and the active stiffness control gain. We also design the proportional–integral type feedback wrench control to improve the robustness and precision of the control. The key theoretical enabler for our framework is a novel stiffness analysis of the dual-arm system with flexibility, which, when combined with certain constraints, provides some peculiar relations, that can effectively be used to significantly simplify the optimization problem-solving and to facilitate the feedback wrench control design by manifesting the compliance relation at the interaction port. The efficacy of the theory is then validated and demonstrated through simulations and experiments.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2625-2644"},"PeriodicalIF":9.4,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10938340","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143723293","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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

General Place Recognition Survey: Toward Real-World Autonomy 一般地点识别调查：走向现实世界的自主性

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-24 DOI: 10.1109/TRO.2025.3550771

Peng Yin;Jianhao Jiao;Shiqi Zhao;Lingyun Xu;Guoquan Huang;Howie Choset;Sebastian Scherer;Jianda Han

{"title":"General Place Recognition Survey: Toward Real-World Autonomy","authors":"Peng Yin;Jianhao Jiao;Shiqi Zhao;Lingyun Xu;Guoquan Huang;Howie Choset;Sebastian Scherer;Jianda Han","doi":"10.1109/TRO.2025.3550771","DOIUrl":"10.1109/TRO.2025.3550771","url":null,"abstract":"In the realm of robotics, the quest for achieving real-world autonomy, capable of executing large-scale and long-term operations, has positioned place recognition (PR) as a cornerstone technology. Despite the PR community's remarkable strides over the past two decades, garnering attention from fields like computer vision and robotics, the development of PR methods that sufficiently support real-world robotic systems remains a challenge. This article aims to bridge this gap by highlighting the crucial role of PR within the framework of simultaneous localization and mapping 2.0. This new phase in robotic navigation calls for scalable, adaptable, and efficient PR solutions by integrating advanced artificial intelligence technologies. For this goal, we provide a comprehensive review of the current state-of-the-art advancements in PR, alongside the remaining challenges, and underscore its broad applications in robotics. This article begins with an exploration of PR's formulation and key research challenges. We extensively review literature, focusing on related methods on place representation and solutions to various PR challenges. Applications showcasing PR's potential in robotics, key PR datasets, and open-source libraries are discussed.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"3019-3038"},"PeriodicalIF":9.4,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143702805","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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