IEEE Transactions on Robotics最新文献_第6页

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

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

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

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

Hybrid Soft-Rigid Elbow Exosuit: Theory, Mechatronic Design, and Experimental Assessment 混合软-刚性肘式外穿服：理论、机电一体化设计和实验评估

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-14 DOI: 10.1109/TRO.2026.3653884

Ali KhalilianMotamed Bonab;Cristian Camardella;Antonio Frisoli;Domenico Chiaradia

{"title":"Hybrid Soft-Rigid Elbow Exosuit: Theory, Mechatronic Design, and Experimental Assessment","authors":"Ali KhalilianMotamed Bonab;Cristian Camardella;Antonio Frisoli;Domenico Chiaradia","doi":"10.1109/TRO.2026.3653884","DOIUrl":"10.1109/TRO.2026.3653884","url":null,"abstract":"Hybrid wearable robotics, combining soft and rigid elements, offer a promising solution for upper limb assistance by balancing comfort and functionality. This study evaluates a hybrid soft-rigid elbow exosuit designed for elbow movement support in dynamic and endurance tasks, focusing on biomechanical impact, user perception, and ergonomics. A theoretical model guided the design, optimizing device dynamics and assistive force delivery. A generic interaction controller, combined with fixed system parameters, provided effective assistance across participants without the need for subject-specific tuning, simplifying deployment in practical settings. During dynamic tasks, the exosuit significantly reduced biceps muscle activity compared to the unassisted condition, with an average reduction of 28.40% . In endurance tasks, it reduced infraspinatus activity by an average of 44.55% and mitigated increased muscle activation during load-carrying. Subjective assessments indicated lower perceived physical demand, while the system usability scale confirmed high usability and acceptance. These findings highlight the exosuit’s ability to reduce physical effort and improve muscle coordination while maintaining comfort. The robust mechatronic design enabled effective assistance through a generic controller, emphasizing the importance of hardware reliability.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"912-930"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11353024","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972404","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

Constrained Articulated Body Algorithms for Closed-Loop Mechanisms 闭环机构的约束铰接体算法

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-12 DOI: 10.1109/TRO.2026.3651683

Ajay Suresha Sathya;Justin Carpentier

{"title":"Constrained Articulated Body Algorithms for Closed-Loop Mechanisms","authors":"Ajay Suresha Sathya;Justin Carpentier","doi":"10.1109/TRO.2026.3651683","DOIUrl":"10.1109/TRO.2026.3651683","url":null,"abstract":"Efficient rigid-body dynamics algorithms are instrumental in enabling high-frequency dynamics evaluation for resource-intensive applications (e.g., model-predictive control, large-scale simulation, and reinforcement learning), potentially on resource-constrained hardware. Existing recursive algorithms with low computational complexity are mostly restricted to kinematic trees with external contact constraints or are sensitive to singular cases (e.g., linearly dependent constraints and kinematic singularities), severely impacting their practical usage in existing simulators. This article introduces two original low-complexity recursive algorithms: the loop-constrained articulated body algorithm and proximal BBO (Brandl, Bae, and others), both based on a proximal dynamics formulation for forward simulation of closed-loop mechanisms. These algorithms are derived from first principles using nonserial dynamic programming, exhibit linear complexity in practical scenarios, and are numerically robust in the face of singular cases. They extend the existing constrained articulated body algorithm to handle internal loops and the pioneering BBO algorithm from the 1980s to singular cases. Both algorithms have been implemented by leveraging the open-source Pinocchio library, benchmarked in detail, and demonstrate state-of-the-art performance for various robot topologies, including over <inline-formula><tex-math>$6times$</tex-math></inline-formula> speed-ups compared to existing nonrecursive algorithms for high-degree-of-freedom systems with internal loops, such as recent humanoid robots.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"819-838"},"PeriodicalIF":10.5,"publicationDate":"2026-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145955199","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

DexRepNet++: Learning Dexterous Robotic Manipulation With Geometric and Spatial Hand-Object Representations DexRepNet++：学习几何和空间手-对象表示的灵巧机器人操作

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-12 DOI: 10.1109/TRO.2026.3651669

Qingtao Liu;Zhengnan Sun;Yu Cui;Haoming Li;Gaofeng Li;Lin Shao;Jiming Chen;Qi Ye

{"title":"DexRepNet++: Learning Dexterous Robotic Manipulation With Geometric and Spatial Hand-Object Representations","authors":"Qingtao Liu;Zhengnan Sun;Yu Cui;Haoming Li;Gaofeng Li;Lin Shao;Jiming Chen;Qi Ye","doi":"10.1109/TRO.2026.3651669","DOIUrl":"10.1109/TRO.2026.3651669","url":null,"abstract":"Robotic dexterous manipulation is a challenging problem due to high degrees of freedom (DoFs) and complex contacts of multifingered robotic hands. Many existing deep reinforcement learning-based methods aim at improving sample efficiency in high-dimensional output action spaces. However, existing works often overlook the role of representations in achieving generalization of a manipulation policy in the complex input space during the hand-object interaction. In this article, we propose DexRep, a novel hand-object interaction representation to capture object surface features and spatial relations between hands and objects for dexterous manipulation skill learning. Based on DexRep, policies are learned for three dexterous manipulation tasks, i.e., grasping, in-hand reorientation, bimanual handover, and extensive experiments are conducted to verify the effectiveness. In simulation, for grasping, the policy learned with 40 objects achieves a success rate of 87.9% on more than 5000 unseen objects of diverse categories, significantly surpassing existing work trained with thousands of objects; for the in-hand reorientation and handover tasks, the policies also boost the success rates and other metrics of existing hand-object representations by 20% to 40%. The grasp policies with DexRep are deployed to the real world under multicamera and single-camera setups and demonstrate a small sim-to-real gap.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"799-818"},"PeriodicalIF":10.5,"publicationDate":"2026-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145955196","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

RAZER: Robust Accelerated Zero-Shot 3-D Open-Vocabulary Panoptic Reconstruction With Spatio-Temporal Aggregation RAZER：具有时空聚合的鲁棒加速零射击3D开放词汇全景重建

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-12 DOI: 10.1109/TRO.2026.3651674

Naman Patel;Prashanth Krishnamurthy;Farshad Khorrami

{"title":"RAZER: Robust Accelerated Zero-Shot 3-D Open-Vocabulary Panoptic Reconstruction With Spatio-Temporal Aggregation","authors":"Naman Patel;Prashanth Krishnamurthy;Farshad Khorrami","doi":"10.1109/TRO.2026.3651674","DOIUrl":"10.1109/TRO.2026.3651674","url":null,"abstract":"Mapping and understanding complex 3-D environments is fundamental to how autonomous systems perceive and interact with the physical world, requiring both precise geometric reconstruction and rich semantic comprehension. While existing 3-D semantic mapping systems excel at reconstructing and identifying predefined object instances, they lack the flexibility to efficiently build semantic maps with open-vocabulary during online operation. Although recent vision-language models (VLMs) have enabled open-vocabulary object recognition in 2-D images, they haven’t yet bridged the gap to 3-D spatial understanding. The critical challenge lies in developing a training-free unified system that can simultaneously construct accurate 3-D maps while maintaining semantic consistency and supporting natural language interactions in real time. In this article, we develop a zero-shot framework that seamlessly integrates GPU-accelerated geometric reconstruction with open-vocabulary VLMs through online instance-level semantic embedding fusion, guided by hierarchical object association with spatial indexing. Our training-free system achieves superior performance through incremental processing and unified geometric-semantic updates, while robustly handling 2-D segmentation inconsistencies. The proposed general-purpose 3-D scene understanding framework can be used for various tasks including zero-shot 3-D instance retrieval, segmentation, and object detection to reason about previously unseen objects and interpret natural language queries.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"1130-1144"},"PeriodicalIF":10.5,"publicationDate":"2026-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145955198","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

Augmented Tank-Based Control Guarantees Passive Individual Interaction Environment for Multiuser Haptic-Enabled Robotic Systems 基于增强坦克的控制保证了多用户触觉机器人系统的被动个体交互环境

IF 10.5 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2026-01-12 DOI: 10.1109/TRO.2026.3651680

Cui Wang;Yudong Liu;Chenyang Sun;Ping Li;Yi-Feng Chen;Mingjie Dong;Zhenhong Li;Lu Liu;Mingming Zhang

{"title":"Augmented Tank-Based Control Guarantees Passive Individual Interaction Environment for Multiuser Haptic-Enabled Robotic Systems","authors":"Cui Wang;Yudong Liu;Chenyang Sun;Ping Li;Yi-Feng Chen;Mingjie Dong;Zhenhong Li;Lu Liu;Mingming Zhang","doi":"10.1109/TRO.2026.3651680","DOIUrl":"10.1109/TRO.2026.3651680","url":null,"abstract":"Despite extensive investigations into the multiuser haptic-enabled robotic system (M-Hers), achieving scalable control design in the presence of nonpassive human operators remains a key challenge. This is primarily due to the increasing complexity of stability conditions and interaction coupling as the number of operators grows. In this study, we address this challenge in two steps. First, we introduce the individual interaction environment (IIE) to isolate the passivity violations, which facilitates the independent control design for each human–robot subsystem, thereby enhancing the scalability with respect to the number of subsystems. Second, within the IIE framework, we identify passivity-violating components caused by partners' active behaviors and propose a novel augmented tank-based controller (ATBC) to guarantee passive IIE while maintaining high rendering accuracy. Specifically, the ATBC employs an energy-related power regulation strategy to enhance interaction safety and a time-varying control gain to mitigate the negative effects of power regulation on rendering fidelity. We validated the proposed method through collaborative haptic tasks on a customized M-Hers composed of three robots in four different scenarios. Comparative studies demonstrate that our approach effectively ensures IIE passivity in the presence of active human behaviors, while ensuring high reproducibility and achieving a favorable balance between passivity and rendering accuracy.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"693-712"},"PeriodicalIF":10.5,"publicationDate":"2026-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145955197","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