IEEE Transactions on Robotics最新文献_第6页

Toward Predicting Collective Performance in Multirobot Teams 多机器人团队中的集体绩效预测

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600164

Pujie Xin;Zhanteng Xie;Philip Dames

引用次数: 0

Spatio-Temporal Motion Retargeting for Quadruped Robots 四足机器人的时空运动重瞄准

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600123

Taerim Yoon;Dongho Kang;Seungmin Kim;Jin Cheng;Min Sung Ahn;Stelian Coros;Sungjoon Choi

{"title":"Spatio-Temporal Motion Retargeting for Quadruped Robots","authors":"Taerim Yoon;Dongho Kang;Seungmin Kim;Jin Cheng;Min Sung Ahn;Stelian Coros;Sungjoon Choi","doi":"10.1109/TRO.2025.3600123","DOIUrl":"10.1109/TRO.2025.3600123","url":null,"abstract":"This work presents a motion retargeting approach for legged robots, aimed at transferring the dynamic and agile movements to robots from source motions. In particular, we guide the imitation learning procedures by transferring motions from source to target, effectively bridging the morphological disparities while ensuring the physical feasibility of the target system. In the first stage, we focus on motion retargeting at the kinematic level by generating kinematically feasible whole-body motions from keypoint trajectories. Following this, we refine the motion at the dynamic level by adjusting it in the temporal domain while adhering to physical constraints. This process facilitates policy training via reinforcement learning, enabling precise and robust motion tracking. We demonstrate that our approach successfully transforms noisy motion sources, such as hand-held camera videos, into robot-specific motions that align with the morphology and physical properties of the target robots. Moreover, we demonstrate terrain-aware motion retargeting to perform BackFlip on top of a box. We successfully deployed these skills to four robots with different dimensions and physical properties in the real world through hardware experiments.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5471-5490"},"PeriodicalIF":10.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144898064","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 High-Payload Robotic Hopper Powered by Bidirectional Thrusters 双向推进器驱动的高载荷机器人料斗

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600127

Song Li;Songnan Bai;Ruihan Jia;Yixi Cai;Runze Ding;Yu Shi;Fu Zhang;Pakpong Chirarattananon

{"title":"A High-Payload Robotic Hopper Powered by Bidirectional Thrusters","authors":"Song Li;Songnan Bai;Ruihan Jia;Yixi Cai;Runze Ding;Yu Shi;Fu Zhang;Pakpong Chirarattananon","doi":"10.1109/TRO.2025.3600127","DOIUrl":"10.1109/TRO.2025.3600127","url":null,"abstract":"Mobile robots have revolutionized various fields, offering solutions for manipulation, environmental monitoring, and exploration. However, payload capacity remains a limitation. This article presents a novel thrust-based robotic hopper capable of carrying payloads up to nine times its own weight while maintaining agile mobility over less structured terrain. The 220 g robot carries upto 2 kg while hopping—–a capability that bridges the gap between high-payload ground robots and agile aerial platforms. Key advancements that enable this high-payload capacity include the integration of bidirectional thrusters, allowing for both upward and downward thrust generation to enhance energy management while hopping. In addition, we present a refined model of dynamics that accounts for heavy payload conditions, particularly for large jumps. To address the increased computational demands, we employ a neural network compression technique, ensuring real-time onboard control. The robot’s capabilities are demonstrated through a series of experiments, including leaping over a high obstacle, executing sharp turns with large steps, as well as performing simple autonomous navigation while carrying a 730 g LiDAR payload. This showcases the robot’s potential for applications, such as mobile sensing and mapping, in challenging environments.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5307-5326"},"PeriodicalIF":10.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144898063","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

Deadlock-Aware Control for Multirobot Coordination With Multiple Safety Constraints 多安全约束下多机器人协调的死锁感知控制

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600159

Zhenwei Zhang;Yuhao Zhang;Xingwei Zhao;Bo Tao;Han Ding

{"title":"Deadlock-Aware Control for Multirobot Coordination With Multiple Safety Constraints","authors":"Zhenwei Zhang;Yuhao Zhang;Xingwei Zhao;Bo Tao;Han Ding","doi":"10.1109/TRO.2025.3600159","DOIUrl":"10.1109/TRO.2025.3600159","url":null,"abstract":"Multirobot coordination in shared workspaces is prone to deadlocks, which can compromise operational capabilities and task efficiency. Accurately determining the timing and spatial locations of deadlocks is essential for effective resolution, yet remains challenging due to dynamic robot interactions and growing system complexity. To this end, a distributed deadlock-aware control framework is proposed for robots to detect and avoid deadlocks while maintaining safe task execution. First, deadlocks are characterized by analyzing undesired equilibria in robot dynamics under safety constraints imposed by multiple stacked control barrier functions (CBFs). Our analysis reveals two critical properties: 1) deadlocks occur at intersections of all active CBF boundaries; and 2) deadlocks arise when robot stabilizing force are confined within the conical hull formed by active safety forces. These theoretical insights underpin a new detection method that identifies potential deadlocks from conflicts between safety requirements and task objectives. Furthermore, a reactive deadlock avoidance method is designed to help robots escape and prevent entry into potential deadlock regions by adaptively modulating the stabilizing force. A generalized workflow is established to systematically address deadlocks across various multirobot tasks. Simulation and hardware experiments are conducted on robots collaborating in dense environments to validate the framework’s effectiveness in preventing task failures caused by deadlocks.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5209-5228"},"PeriodicalIF":10.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144898058","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

Robust and Agile Quadrotor Flight via Adaptive Unwinding-Free Quaternion Sliding-Mode Control 鲁棒和敏捷四旋翼飞行的自适应解卷四元数滑模控制

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600157

Amin Yazdanshenas;Reza Faieghi

{"title":"Robust and Agile Quadrotor Flight via Adaptive Unwinding-Free Quaternion Sliding-Mode Control","authors":"Amin Yazdanshenas;Reza Faieghi","doi":"10.1109/TRO.2025.3600157","DOIUrl":"10.1109/TRO.2025.3600157","url":null,"abstract":"This article presents a new adaptive sliding-mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations, including, first, the slow convergence and almost-global stability of <inline-formula><tex-math>$mathrm{SO(3)}$</tex-math></inline-formula>-based methods, second, the oversimplification of rotational dynamics in Euler-based controllers, third, the unwinding phenomenon in quaternion-based formulations, and fourth, the gain overgrowth problem in adaptive SMC schemes. Leveraging nonsmooth stability analysis, we provide rigorous global stability proofs for both the nonsmooth attitude sliding dynamics defined on <inline-formula><tex-math>$mathbb {S}^{3}$</tex-math></inline-formula> and the position sliding dynamics. Our controller is computationally efficient and runs reliably on a resource-constrained nano quadrotor, achieving 250 Hz and 500 Hz refresh rates for position and attitude control, respectively. In an extensive set of hardware experiments with over 130 flight trials, the proposed controller consistently outperforms three benchmark methods, demonstrating superior trajectory tracking accuracy and robustness with relatively low control effort. The controller enables aggressive maneuvers, such as dynamic throw launches, flip maneuvers, and accelerations exceeding 3 g, which is remarkable for a 32-gram nano quadrotor. These results highlight promising potential for real-world applications, particularly in scenarios requiring robust, high-performance flight control under significant external disturbances and tight computational constraints.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5246-5266"},"PeriodicalIF":10.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144898061","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

Toward Physician-Level Performance in Robot-Assisted Ankle Rehabilitation via Imitation Learning With Empirical and Temporal Adaptation 基于经验和时间适应的模仿学习在机器人辅助踝关节康复中的临床表现

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600162

Mingjie Dong;Hanwei Ruan;Zeyu Wang;Chenyang Sun;Shiping Zuo;Yifeng Chen;Jianfeng Li;Mingming Zhang

{"title":"Toward Physician-Level Performance in Robot-Assisted Ankle Rehabilitation via Imitation Learning With Empirical and Temporal Adaptation","authors":"Mingjie Dong;Hanwei Ruan;Zeyu Wang;Chenyang Sun;Shiping Zuo;Yifeng Chen;Jianfeng Li;Mingming Zhang","doi":"10.1109/TRO.2025.3600162","DOIUrl":"10.1109/TRO.2025.3600162","url":null,"abstract":"Robot-assisted ankle rehabilitation training imitating physician’s professional techniques is highly important for promoting personalized training and improving clinical outcomes. In this work, we propose a two-level kernelized movement primitives (2-level-KMP) imitation learning algorithm under the kernelized movement primitives (KMP) framework, which reproduces physician’s experience and optimizes the imitation trajectory during rehabilitation, to realize physician-level performance in robot-assisted ankle rehabilitation training. First, a KMP process combined with a Bayesian optimizer is used to imitate the rehabilitation trajectory. Second, the other KMP process is used to smooth the imitation trajectory further. Then the two KMP processes combined with patient-in-the-loop optimization (PILO) realize temporal rehabilitation adaptation. Finally, the 2-level-KMP algorithm is reproduced on a parallel ankle rehabilitation robot (PARR), which enables the patient’s passive rehabilitation training to be empirical and adaptive. Ten ankle dysfunction patients were involved in clinical experiments, with the results showing that the proposed algorithm can accurately reproduce physician’s trajectories and modulate trajectories based on patient’s feedback. After ten rehabilitation exercises, the number of modulation points calculated from patient’s torque feedback decreases by 85.19% on average compared with the beginning stage. A comparison between the 2-level KMP algorithm and existing algorithms shows that the 2-level-KMP algorithm can better ensure smoothness and retain the shape of the trajectory during trajectory modulation, ensuring the safety of ankle rehabilitation and retaining the experience of the physician.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5360-5377"},"PeriodicalIF":10.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144897869","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 New Quantitative Measure for Separation and Penetration Between Convex Primitives and a Point Cloud or a Triangle Mesh 凸基元与点云或三角网格分离穿透的一种新的定量方法

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600128

Yu Zheng

{"title":"A New Quantitative Measure for Separation and Penetration Between Convex Primitives and a Point Cloud or a Triangle Mesh","authors":"Yu Zheng","doi":"10.1109/TRO.2025.3600128","DOIUrl":"10.1109/TRO.2025.3600128","url":null,"abstract":"This article presents a new efficient way to quantitatively measure separation and penetration between a collection of convex primitives (including ellipsoids, capsules, cylinders, convex polyhedra, and triangles) and a point cloud or a triangle mesh. First, the minimum scaling factor of a convex primitive with respect to its centroid to contact a point or a triangle is proposed as a new distance metrics, which can be greater than, equal to, or less than one, implying that the point or the triangle is separated from, just contacts, or penetrates into the convex primitive. It can be computed mostly in closed form or occasionally with a 1-D gradient descent search, which is much faster than computing the Euclidean distance. Furthermore, an efficient algorithm is proposed to compute the smallest minimum scaling factor of convex primitives in a collection to a point cloud or a triangle mesh. It is based on the discovery that computing the minimum scaling factor of a convex primitive to a point or a triangle yields a plane separating more points or triangles from this or other convex primitives. Then, the overall smallest scaling factor can be found by checking only a few pairs of primitives and points or triangles, being significantly faster than the exhaustive search. In various numerical examples and comparison with the existing algorithms, the proposed metrics and algorithm show superior or comparable efficiency.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5080-5096"},"PeriodicalIF":10.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144897870","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

RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm RGBlimp-Q：基于鸟形连续臂的移动质量控制机器人滑翔飞艇

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600135

Hao Cheng;Feitian Zhang

{"title":"RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm","authors":"Hao Cheng;Feitian Zhang","doi":"10.1109/TRO.2025.3600135","DOIUrl":"10.1109/TRO.2025.3600135","url":null,"abstract":"Robotic blimps, as lighter-than-air aerial platforms, offer extended operational duration and enhanced safety in human–robot interactions due to their buoyant lift. However, achieving robust flight performance under environmental airflow disturbances remains a critical challenge, thereby limiting their broader deployment. Inspired by avian flight mechanics, particularly the ability of birds to perch and stabilize in turbulent wind conditions, this article introduces RGBlimp-Q—a robotic gliding blimp equipped with a bird-inspired continuum arm featuring a novel moving mass actuation mechanism. This continuum arm enables flexible attitude regulation through internal mass redistribution, significantly enhancing the system’s resilience to external disturbances. In addition, it facilitates aerial manipulation by employing end-effector claws that interact with the environment in a manner analogous to avian perching behavior. This article presents the design, modeling, and prototyping of RGBlimp-Q, supported by comprehensive experimental evaluation and comparative analysis. To the best of the authors’ knowledge, this represents the first interdisciplinary integration of continuum mechanisms into a lighter-than-air robotic platform, where the continuum arm simultaneously functions as both an actuation and manipulation module. This design establishes a novel paradigm for robotic blimps, expanding their applicability to complex and dynamic environments.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5097-5116"},"PeriodicalIF":10.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144898060","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

Reinforcement Learning Enhanced LQR and Control Lyapunov Functions for Spacecraft Proximity Operations 用于航天器接近操作的强化学习增强LQR和控制Lyapunov函数

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600160

Harry Holt;Roberto Armellin

引用次数: 0

Online Pareto-Optimal Decision-Making for Complex Tasks Using Active Inference 基于主动推理的复杂任务在线pareto最优决策

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-08-19 DOI: 10.1109/TRO.2025.3600155

Peter Amorese;Shohei Wakayama;Nisar Ahmed;Morteza Lahijanian

{"title":"Online Pareto-Optimal Decision-Making for Complex Tasks Using Active Inference","authors":"Peter Amorese;Shohei Wakayama;Nisar Ahmed;Morteza Lahijanian","doi":"10.1109/TRO.2025.3600155","DOIUrl":"10.1109/TRO.2025.3600155","url":null,"abstract":"When a robot autonomously performs a complex task, it frequently must balance competing objectives while maintaining safety. This becomes more difficult in uncertain environments with stochastic outcomes. Enhancing transparency in the robot’s behavior and aligning with user preferences are also crucial. This article introduces a novel framework for multiobjective reinforcement learning that ensures safe task execution, optimizes tradeoffs between objectives, and adheres to user preferences. The framework has two main layers: a multiobjective task planner and a high-level selector. The planning layer generates a set of optimal tradeoff plans that guarantee satisfaction of a temporal logic task. The selector uses active inference to decide which generated plan best complies with user preferences and aids learning. Operating iteratively, the framework updates a parameterized learning model based on collected data. Case studies and benchmarks on both manipulation and mobile robots show that our framework outperforms other methods and (i) learns multiple optimal tradeoffs, (ii) adheres to a user preference, and (iii) allows the user to adjust the balance between (i) and (ii).","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5378-5395"},"PeriodicalIF":10.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144898062","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