IEEE Transactions on Robotics最新文献_第8页

A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-02-05 DOI: 10.1109/TRO.2025.3539172

Dante Archangeli;Brendon Ortolano;Rosemarie Murray;Lukas Gabert;Tommaso Lenzi

{"title":"A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance","authors":"Dante Archangeli;Brendon Ortolano;Rosemarie Murray;Lukas Gabert;Tommaso Lenzi","doi":"10.1109/TRO.2025.3539172","DOIUrl":"10.1109/TRO.2025.3539172","url":null,"abstract":"Wearable robots and powered exoskeletons may improve ambulation for millions of individuals with poor mobility. Powered exoskeletons primarily assist in the sagittal plane to improve walking efficiency and speed. However, individuals with poor mobility often have limited mediolateral balance, which requires torque generation in the frontal plane. Existing hip exoskeletons that assist in both the sagittal and frontal planes are too heavy and bulky for use in the real world. Here we present the kinematic model, mechatronic design, and benchtop and human testing of a powered hip exoskeleton with a unique parallel kinematic actuator. The exoskeleton is lightweight (5.3 kg), has a slim profile, and can generate 30 N·m and 20 N·m of torque during gait in the sagittal and frontal planes. The exoskeleton torque density is 5.7 N·m/kg—53% higher than previously possible with series kinematic design. Testing with five healthy subjects indicate that frontal plane torques applied during stance or swing can alter step width, while sagittal plane torque can assist with hip flexion and extension. A device with these characteristics may improve both gait economy and balance in the real world.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"1711-1727"},"PeriodicalIF":9.4,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10874165","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191807","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

Fusion-Perception-to-Action Transformer: Enhancing Robotic Manipulation With 3-D Visual Fusion Attention and Proprioception

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-02-05 DOI: 10.1109/TRO.2025.3539193

Yangjun Liu;Sheng Liu;Binghan Chen;Zhi-Xin Yang;Sheng Xu

{"title":"Fusion-Perception-to-Action Transformer: Enhancing Robotic Manipulation With 3-D Visual Fusion Attention and Proprioception","authors":"Yangjun Liu;Sheng Liu;Binghan Chen;Zhi-Xin Yang;Sheng Xu","doi":"10.1109/TRO.2025.3539193","DOIUrl":"10.1109/TRO.2025.3539193","url":null,"abstract":"Most prior robot learning methods focus on image-based observations, limiting their capability in 3-D robotic manipulation. Voxel representation naturally delivers rich spatial features but remains underutilized. Specifically, current voxel-based methods struggle with fine-grained tasks, since precise actions are not fully achievable. However, humans can accomplish these tasks well using vision and proprioception. Inspired by this, this article proposed a novel Fusion-Perception-to-Action Transformer (FP2AT) with cross-layer feature aggregation to handle fine-grained manipulation in 3-D space. In particular, a multiscale 3-D visual fusion attention mechanism is devised to draw attention to local regions of interest and maintain awareness of global scenes, thereby boosting the capabilities of visual perception and action planning. Meanwhile, a 3-D visual mutual attention mechanism is designed and it can also enhance spatial perception. Besides, we further explore the potential of FP2AT by developing its coarse-to-fine version, which progressively refines the action space for more precise predictions. In addition, a proprioceptive encoder is developed to mimic the perception of body movements and contact, elevating the effectiveness of the FP2AT. Furthermore, a new metric, the average number of key actions (ANKA), is introduced to evaluate efficiency and planning capability. In various simulated and real-robot examples, our methods significantly outperform state-of-the-art 3-D-vision-based methods in success rate and ANKA metrics.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"1553-1567"},"PeriodicalIF":9.4,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191806","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

Distributed Coverage Control for Time-Varying Spatial Processes 时变空间过程的分布式覆盖控制

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-02-05 DOI: 10.1109/TRO.2025.3539168

Federico Pratissoli;Mattia Mantovani;Amanda Prorok;Lorenzo Sabattini

{"title":"Distributed Coverage Control for Time-Varying Spatial Processes","authors":"Federico Pratissoli;Mattia Mantovani;Amanda Prorok;Lorenzo Sabattini","doi":"10.1109/TRO.2025.3539168","DOIUrl":"10.1109/TRO.2025.3539168","url":null,"abstract":"Multirobot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multirobot team for optimal coverage in environments where the density distribution, describing areas of interest, is unknown and changes over time. We propose a fully distributed control strategy that uses Gaussian processes (GPs) to model the spatial field and balance the tradeoff between learning the field and optimally covering it. Unlike existing approaches, we address a more realistic scenario by handling time-varying spatial fields, where the <italic>exploration-exploitation</i> tradeoff is dynamically adjusted over time. Each robot operates locally, using only its own collected data and the information shared by the neighboring robots. To address the computational limits of GPs, the algorithm efficiently manages the volume of data by selecting only the most relevant samples for the process estimation. The performance of the proposed algorithm is evaluated through several simulations and experiments, incorporating real-world data phenomena to validate its effectiveness.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"1602-1617"},"PeriodicalIF":9.4,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191803","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

Integrating Contact-Aware CPG System for Learning-Based Soft Snake Robot Locomotion Controllers

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-02-05 DOI: 10.1109/TRO.2025.3539173

Xuan Liu;Cagdas D. Onal;Jie Fu

{"title":"Integrating Contact-Aware CPG System for Learning-Based Soft Snake Robot Locomotion Controllers","authors":"Xuan Liu;Cagdas D. Onal;Jie Fu","doi":"10.1109/TRO.2025.3539173","DOIUrl":"10.1109/TRO.2025.3539173","url":null,"abstract":"Contact-awareness poses a significant challenge in the locomotion control of soft snake robots. This article is to develop bioinspired contact-aware locomotion controllers, grounded in a novel theory pertaining to the feedback mechanism of the Matsuoka oscillator. This mechanism enables the Matsuoka central pattern generator (CPG) system to function analogously to a “spinal cord” in the entire contact-aware control framework. Specifically, it concurrently integrates stimuli, such as tonic input signals originating from the “brain” (a goal-tracking locomotion controller) and sensory feedback signals from the “reflex arc” (the contact reactive controller), for generating different types of rhythmic signals to orchestrate the movement of the soft snake robot traversing through densely populated obstacles and even narrow aisles. Within the “reflex arc” design, we have designed two distinct types of contact reactive controllers: 1) a reinforcement learning-based sensor regulator that learns to modulate the sensory feedback inputs of the CPG system, and 2) a local reflexive controller that establishes a direct connection between sensor readings and the CPG's feedback inputs, adhering to a specific topological configuration. These two reactive controllers, when combined with the goal-tracking locomotion controller and the Matsuoka CPG system, facilitate the implementation of two contact-aware locomotion control schemes. Both control schemes have been rigorous tested and evaluated in both simulated and real-world soft snake robots, demonstrating commendable performance in contact-aware locomotion tasks. These experimental outcomes further validate the benefits of the modified Matsuoka CPG system, augmented by a novel sensory feedback mechanism, for the design of bioinspired robot controllers.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"1581-1601"},"PeriodicalIF":9.4,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191805","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

ZISVFM: Zero-Shot Object Instance Segmentation in Indoor Robotic Environments With Vision Foundation Models ZISVFM：利用视觉基础模型进行室内机器人环境中的零镜头物体实例分割

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-02-05 DOI: 10.1109/TRO.2025.3539198

Ying Zhang;Maoliang Yin;Wenfu Bi;Haibao Yan;Shaohan Bian;Cui-Hua Zhang;Changchun Hua

{"title":"ZISVFM: Zero-Shot Object Instance Segmentation in Indoor Robotic Environments With Vision Foundation Models","authors":"Ying Zhang;Maoliang Yin;Wenfu Bi;Haibao Yan;Shaohan Bian;Cui-Hua Zhang;Changchun Hua","doi":"10.1109/TRO.2025.3539198","DOIUrl":"10.1109/TRO.2025.3539198","url":null,"abstract":"Service robots operating in unstructured environments must effectively recognize and segment unknown objects to enhance their functionality. Traditional supervised learning-based segmentation techniques require extensive annotated datasets, which are impractical for the diversity of objects encountered in real-world scenarios. Unseen object instance segmentation (UOIS) methods aim to address this by training models on synthetic data to generalize to novel objects, but they often suffer from the simulation-to-reality gap. This article proposes a novel approach (ZISVFM) for solving UOIS by leveraging the powerful zero-shot capability of the segment anything model (SAM) and explicit visual representations from a self-supervised vision transformer (ViT). The proposed framework operates in the following three stages: generating object-agnostic mask proposals from colorized depth images using SAM, refining these proposals using attention-based features from the self-supervised ViT to filter nonobject masks, and applying K-Medoids clustering to generate point prompts that guide SAM toward precise object segmentation. Experimental validation on two benchmark datasets and a self-collected dataset demonstrates the superior performance of ZISVFM in complex environments, including hierarchical settings such as cabinets, drawers, and handheld objects.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"1568-1580"},"PeriodicalIF":9.4,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191815","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

Ambilateral Activity Recognition and Continuous Adaptation With a Powered Knee-Ankle Prosthesis

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-02-05 DOI: 10.1109/TRO.2025.3539206

Shihao Cheng;Curt A. Laubscher;T. Kevin Best;Robert D. Gregg

{"title":"Ambilateral Activity Recognition and Continuous Adaptation With a Powered Knee-Ankle Prosthesis","authors":"Shihao Cheng;Curt A. Laubscher;T. Kevin Best;Robert D. Gregg","doi":"10.1109/TRO.2025.3539206","DOIUrl":"10.1109/TRO.2025.3539206","url":null,"abstract":"For powered prosthetic legs to be viable in everyday situations, they require an activity classification system that is not only accurate but also straightforward to understand and use. However, incorporating the numerous activity modes in real-world ambulation often requires high-dimensional feature spaces and restrictions on the leg leading each transition. This article addresses these challenges by delegating sit/stand transitions and variable-incline walking to the mid-level controller, effectively reducing the classification space to four states with easily distinguishable features. We implement simple heuristic rules for both prosthetic-led and intact-led (i.e., ambilateral) transitions, using lower limb kinematic features, ground contact and inclination, and environmental distance from an ultrasonic sensor. Two transfemoral amputee subjects using a powered knee-ankle prosthesis demonstrated an ambilateral transition accuracy of 99.2% under both self-paced and rapid-paced/fatiguing conditions, with a 100% recovery rate due to backup logic or user-cued resets. The incline estimator enabled the prosthesis to continuously adapt between level and inclined surfaces without explicit classification. These results and an outdoor multiterrain demonstration indicate that simple and straightforward transition logic can enable powered prosthetic legs to be used reliably across a broad array of daily activities.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2251-2267"},"PeriodicalIF":9.4,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191804","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

Continuously Shaping Prioritized Jacobian Approach for Hierarchical Optimal Control With Task Priority Transition

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-02-05 DOI: 10.1109/TRO.2025.3539204

Yeqing Yuan;Weichao Sun

{"title":"Continuously Shaping Prioritized Jacobian Approach for Hierarchical Optimal Control With Task Priority Transition","authors":"Yeqing Yuan;Weichao Sun","doi":"10.1109/TRO.2025.3539204","DOIUrl":"10.1109/TRO.2025.3539204","url":null,"abstract":"Hierarchical control is widely employed for redundant robots to manage multiple simultaneous tasks with distinct priority levels. A novel hierarchical optimal control strategy was recently introduced to achieve performance-optimal tracking under static and strict priority constraints. However, in complex and dynamic environments, robots must possess the capability to switch hierarchical behaviors online to adapt to varying operational scenarios. Existing continuous priority-switching methods often sacrifice hierarchical control performance and fail to asymptotically track the hierarchical optimal trajectory. In this article, a continuously shaping prioritized Jacobian algorithm is proposed and integrated into a newly developed continuous hierarchical optimal control framework with priority transitions. This approach not only ensures optimal control performance but also facilitates continuous priority switching. The continuity and accuracy of the proposed algorithm, as well as the bounded stability of the closed-loop system state variables, are thoroughly analyzed in this work. The effectiveness of the proposed method is validated through simulations and experiments on the Franka Emika Panda robot.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"1639-1656"},"PeriodicalIF":9.4,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191802","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

AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-02-05 DOI: 10.1109/TRO.2025.3539171

Kuan Xu;Yuefan Hao;Shenghai Yuan;Chen Wang;Lihua Xie

{"title":"AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System","authors":"Kuan Xu;Yuefan Hao;Shenghai Yuan;Chen Wang;Lihua Xie","doi":"10.1109/TRO.2025.3539171","DOIUrl":"10.1109/TRO.2025.3539171","url":null,"abstract":"In this article, we present an efficient visual simultaneous localization and mapping (SLAM) system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and matching with traditional back-end optimization methods. Specifically, we propose a unified convolutional neural network that simultaneously extracts keypoints and structural lines. These features are then associated, matched, triangulated, and optimized in a coupled manner. In addition, we introduce a lightweight relocalization pipeline that reuses the built map, where keypoints, lines, and a structure graph are used to match the query frame with the map. To enhance the applicability of the proposed system to real-world robots, we deploy and accelerate the feature detection and matching networks using C++ and NVIDIA TensorRT. Extensive experiments conducted on various datasets demonstrate that our system outperforms other state-of-the-art visual SLAM systems in illumination-challenging environments. Efficiency evaluations show that our system can run at a rate of <inline-formula><tex-math>$73,mathrm{Hz}$</tex-math></inline-formula> on a PC and <inline-formula><tex-math>$40,mathrm{Hz}$</tex-math></inline-formula> on an embedded platform.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"1673-1692"},"PeriodicalIF":9.4,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143191816","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

Corrections to “On-Manifold Strategies for Reactive Dynamical System Modulation With Nonconvex Obstacles”

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-01-27 DOI: 10.1109/TRO.2025.3530224

Christopher K. Fourie;Nadia Figueroa;Julie A. Shah

引用次数: 0

Terradynamics of Monolithic Soft Robot Driven by Vibration Mechanism

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-01-24 DOI: 10.1109/TRO.2025.3532499

Linh Viet Nguyen;Khoi Thanh Nguyen;Van Anh Ho

{"title":"Terradynamics of Monolithic Soft Robot Driven by Vibration Mechanism","authors":"Linh Viet Nguyen;Khoi Thanh Nguyen;Van Anh Ho","doi":"10.1109/TRO.2025.3532499","DOIUrl":"10.1109/TRO.2025.3532499","url":null,"abstract":"In this article, we present a design concept, in which a monolithic soft body is incorporated with a vibration-driven mechanism, called <italic>Leafbot</i>. We first report a morphological design of the robot's limbs that facilitates the forward locomotion of our vibration-driven model and enhances the capability of coping with sloped obstacles and irregular terrains. Second, the fabrication technique to achieve such a soft monolithic structure and limb morphology is fully addressed. Third, we clarify the locomotion of the Leafbot under high-frequency excitation via analytical and empirical methods in flat and even surface conditions. The maximum attained velocity in such a condition is 5 body length/ second. Finally, three model designs are constructed, each featuring a different limb pattern. We examine the terradynamics characteristics of three patterns in three pre-defined conditions, i.e., the success rate of overcoming the slope, semi-circular obstacles, and step-field terrains specialized by the rugosity factor. This proposed investigation aims to build a foundation for further terradynamics study of vibration-driven soft robots in a more complicated and confined environment, with potential applications in inspection tasks.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"1436-1455"},"PeriodicalIF":9.4,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10852184","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143030880","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