IEEE Transactions on Robotics最新文献_第5页

Safe and Efficient Quadrupedal Locomotion With a Chambolle–Pock Whole-Body Controller 安全高效的四足运动与Chambolle-Pock全身控制器

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-15 DOI: 10.1109/TRO.2026.3653775

Xu Yang;Run Wang;Yiwen Lu;Yilin Mo

引用次数: 0

A Fifth-Order POE-Based Method for Kinematic Identification and Inverse Kinematics of Serial Robots 基于五阶poe的串联机器人运动辨识与逆解方法

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/TRO.2026.3653881

Yuhan Chen;Yunkai Wang;Fan Bu;Guiyang Xin;Changsheng Dai;Xingjian Liu;Yu Sun;Xinyu Liu

{"title":"A Fifth-Order POE-Based Method for Kinematic Identification and Inverse Kinematics of Serial Robots","authors":"Yuhan Chen;Yunkai Wang;Fan Bu;Guiyang Xin;Changsheng Dai;Xingjian Liu;Yu Sun;Xinyu Liu","doi":"10.1109/TRO.2026.3653881","DOIUrl":"10.1109/TRO.2026.3653881","url":null,"abstract":"Current numerical methods for solving kinematic identification (KI) and inverse kinematics (IK) are limited in accuracy, convergence rates, and robustness, necessitating further enhancement. This article presents a modified Halley method for solving the KI and IK problems of serial robots based on the product of exponentials formula, achieving quintic convergence. Specifically, a general error model is first established based on exponential coordinates, and KI and IK are reformulated as root-finding problems. Next, the modified Halley method, which is proven to be a fifth-order method and incorporates a damping strategy, is proposed to resolve the singularity issue and enhance robustness. Subsequently, the Jacobian and Hessian matrices required for the proposed method are analytically derived based on the time differential of exponentials. Furthermore, highly simplified and explicit formulas for these matrices are presented for the IK problem. Simulations on serial robots with various configurations validate the proposed method’s accuracy, convergence rates, and robustness in solving KI and IK problems, as well as its advantages over the state of the art. In addition, experimental validation of KI on two physical robots further demonstrates the effectiveness of the proposed method. Our custom-written MATLAB and C++ codebases are made publicly available for download.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"1068-1087"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972405","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

SEVAC: Sample Efficient Variational Actor Critic for Reliable Navigation Learning in Uncertain Topological Networks 不确定拓扑网络中可靠导航学习的样本高效变分行动者评价

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/TRO.2026.3653857

Hongliang Guo;Yingying Wang;Jing Zhang;Anguo Zhang

{"title":"SEVAC: Sample Efficient Variational Actor Critic for Reliable Navigation Learning in Uncertain Topological Networks","authors":"Hongliang Guo;Yingying Wang;Jing Zhang;Anguo Zhang","doi":"10.1109/TRO.2026.3653857","DOIUrl":"10.1109/TRO.2026.3653857","url":null,"abstract":"This article investigates the reliable navigation problem, which requires that the ego vehicle navigates itself to the destination with the maximized stochastic on-time arrival (SOTA) probability in a given <italic>uncertain</i> topological transportation network. One distinctive characteristic of the SOTA problem explored in this article is the inherent uncertainty stemming from the underlying network's topology, i.e., some of the edges might become untraversable during navigation. To the best of our knowledge, almost all conventional SOTA solutions presume that the network topology remains the same during the ego vehicle's navigation process. However, when facing uncertainties in the network's topology, these algorithms may experience a significant performance degradation. To address the challenge of uncertain network topology, we first formulate the special reliable navigation problem into the <italic>variational</i> Markov decision process framework, and then initiate a new reinforcement learning-based algorithm, namely sample efficient variational actor critic (SEVAC) as its solution. SEVAC comprises the variational policy gradient (VPG) module, which optimizes the vehicle's routing policy, and the masked temporal difference (MTD) module, which approximates the underlying routing policy's SOTA probability. Both modules are extended to their off-policy counterparts, namely off-policy VPG and off-policy MTD, to improve the algorithm's sample efficiency. SEVAC are compared with several conventional SOTA solutions as well as Canadian traveller problem algorithms in a variety of commonly used transportation test networks, and achieve the best overall SOTA performance. Furthermore, we validate SEVAC's application to real-world scenarios by navigating a physical robot in a self-constructed indoor environment as well as a real-world building environment with uncertain topology.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"1028-1047"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972366","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

Mechatronic Design and Control of a Robotized Crane Exploiting Natural Dynamics for Pick-and-Place Applications 基于自然动力学的机器人起重机机电一体化设计与控制

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/TRO.2026.3653850

Boris Deroo;Erwin Aertbeliën;Wilm Decré;Herman Bruyninckx

{"title":"Mechatronic Design and Control of a Robotized Crane Exploiting Natural Dynamics for Pick-and-Place Applications","authors":"Boris Deroo;Erwin Aertbeliën;Wilm Decré;Herman Bruyninckx","doi":"10.1109/TRO.2026.3653850","DOIUrl":"10.1109/TRO.2026.3653850","url":null,"abstract":"This article describes a solution for pick-and-place tasks that do not require high precision throughout the execution, using a robotized gantry crane. Two common issues that occur when using a crane are addressed, and solutions are provided. First, the lack of rotational controllability is overcome by designing a gripper that passively aligns itself with the handle of the payload using a simple, robust control strategy. Second, the active workspace is expanded by using controlled, dynamic motions, based on a variable-length pendulum model. Thus, the workspace is no longer limited to positions directly accessible from above, as is the case with quasi-static control methods. The robustness and effectiveness of the proposed solution was validated by a grasping, and a shelf insertion experiment. The robot was able to grasp the payload during all 48 trials. Failures were detected and recovery strategies were implemented. The handle could also be reliably ungrasped. During the shelf insertion, imperfect trajectory tracking caused a significant error during the unobservable part of the trajectory. Nevertheless, the actual placement position was always close to the desired position.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"782-798"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972392","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

Affine EKF: Exploring and Utilizing Sufficient and Necessary Conditions for Observability Maintenance to Improve EKF Consistency 仿射EKF：探索和利用可观测性维持的充分必要条件来提高EKF的一致性

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/tro.2026.3653887

Yang Song, Liang Zhao, Shoudong Huang

引用次数: 0

Strain-Based Shape and 3-D Force Estimation for Rod-Driven Continuum Robots With Stretch Sensors 带拉伸传感器的杆驱动连续体机器人的应变形状和三维力估计

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/TRO.2026.3653859

Peiyi Wang;Daniel Feliu-Talegon;Yuchen Sun;Zhexin Xie;Wenci Xin;Muhammad Sunny Nazeer;Cosimo Della Santina;Cecilia Laschi;Federico Renda

{"title":"Strain-Based Shape and 3-D Force Estimation for Rod-Driven Continuum Robots With Stretch Sensors","authors":"Peiyi Wang;Daniel Feliu-Talegon;Yuchen Sun;Zhexin Xie;Wenci Xin;Muhammad Sunny Nazeer;Cosimo Della Santina;Cecilia Laschi;Federico Renda","doi":"10.1109/TRO.2026.3653859","DOIUrl":"10.1109/TRO.2026.3653859","url":null,"abstract":"Soft robots’ ability to safely navigate complex environments motivates the development of algorithms for accurate environmental interaction assessment, enabling greater autonomy. Specifically, strain-based shape and force estimation of continuum robots with embedded soft sensors poses an open challenge mainly owing to continuous softness, anisotropic deformation, and nonlinear properties. Mathematical description of deformable soft bodies and accurate estimation of external forces are crucial for achieving controllable and intelligent behaviors of these robots. In this article, a kinetostatic strain-based modeling for rod-driven soft robots with embedded stretch sensors is proposed, which incorporates local strains, actuation variables, and external interactions. The strain model enables full shape estimation of the robot and prediction of strain variations in soft bodies. Building on this, we develop a force estimator based on predicted and measured sensor and actuator lengths to evaluate 3-D external forces, accounting for both orthogonal and tangential components relative to the backbone. Moreover, we introduce a methodology using a novel ellipsoid representation to handle tangential forces that may become insensitive in certain singular configurations. This estimator allows us to either disregard such forces when they do not influence deformation or estimate them when they become observable. Our simulations and experiments demonstrate how this approach can be used to analyze the robot’s configuration and successfully estimate external forces. Finally, it is demonstrated that when the continuum arm follows trajectories with higher strain sensitivity, tangential force estimation is significantly improved.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"894-911"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972401","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

Physics-Informed Token Prediction-Based Dynamic Modeling and High-Speed Feedforward Tracking Control of Dielectric Elastomer Actuators 基于物理信息令牌预测的介电弹性体执行器动态建模与高速前馈跟踪控制

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/TRO.2026.3653783

Xingyu Chen;Xiaotian Shi;Peinan Yan;Jieji Ren;Guoying Gu;Jiang Zou

{"title":"Physics-Informed Token Prediction-Based Dynamic Modeling and High-Speed Feedforward Tracking Control of Dielectric Elastomer Actuators","authors":"Xingyu Chen;Xiaotian Shi;Peinan Yan;Jieji Ren;Guoying Gu;Jiang Zou","doi":"10.1109/TRO.2026.3653783","DOIUrl":"10.1109/TRO.2026.3653783","url":null,"abstract":"Due to their continuous electromechanical deformation, rate-dependent viscoelasticity, and complex mechanical vibration, dynamic modeling and high-speed tracking control of dielectric elastomer actuators (DEAs) remain elusive, significantly limiting their working bandwidth. In this work, we propose a physics-informed token prediction (PITP) that enables accurate modeling of DEA dynamics and high-speed feedforward tracking control. The PITP framework consists of two key components: a physics-informed encoder and a dynamic decoder. The physics-informed encoder is designed based on a simplified equivalent linear model and trained through the hierarchical optimization training method, which embeds the global dynamic characteristics into tokens, minimizing the need for extensive data and training. Then, the dynamic decoder is developed by using these tokens as state-dependent parameters, capable of describing complex dynamic responses through the autoregressive solution. Finally, by taking advantage of the model’s reversibility, a direct inverse compensator is established to linearize the input–output relationship. Experimental results of several DEAs with different configurations and payloads demonstrate that, based on our PITP framework, the complex nonlinear dynamic responses of all DEAs can be precisely described and eliminated within their natural frequency, validating its generality and versatility. By leveraging fast modeling (<inline-formula><tex-math>$< $</tex-math></inline-formula>30 min) and high-speed feedforward tracking control, our PITP framework may accelerate DEAs’ practical applications.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"839-855"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972402","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

DreamWaQ++: Obstacle-Aware Quadrupedal Locomotion With Resilient Multi-Modal Reinforcement Learning 基于弹性多模态强化学习的障碍物感知四足运动

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/tro.2026.3653774

I Made Aswin Nahrendra, Byeongho Yu, Minho Oh, Dongkyu Lee, Seunghyun Lee, Hyeonwoo Lee, Hyungtae Lim, Hyun Myung

引用次数: 0

A Rotation-Translation Decoupled Solution for Visual-Inertial Initialization and Online Spatial-Temporal Calibration 一种旋转平移解耦的视觉惯性初始化和在线时空标定方法

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/tro.2026.3653854

Bo Xu, Zewen Xu, Yijia He, Zhanpeng Ouyang, Hao Wei, Yihong Wu, Jiancheng Li, Hongdong Li

引用次数: 0

Stable Kinematics for Multi-Robot Collaborative Transporting System with a Deformable Sheet 具有可变形片的多机器人协同搬运系统的稳定运动学

IF 7.8 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/tro.2026.3653870

Wenyao Ma, Jiawei Hu, Jiamao Li, Jingang Yi, Zhenhua Xiong

引用次数: 0