IEEE Robotics & Automation Magazine最新文献_第10页

A Nitinol-Embedded Wearable Soft Robotic Gripper for Deep-Sea Manipulation: A Wearable Device for Deep-Sea Delicate Operation 用于深海操作的镍钛诺嵌入式可穿戴软机器人抓手：用于深海精细操作的可穿戴设备

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2024-01-26 DOI: 10.1109/mra.2024.3351477

Zonghao Zuo, Xia He, Haoxuan Wang, Zhuyin Shao, Jiaqi Liu, Qiyi Zhang, Fei Pan, Li Wen

引用次数: 0

A Multiarm Robotic Platform for Scientific Exploration: Its Design, Digital Twins, and Validation 用于科学探索的多臂机器人平台：设计、数字孪生和验证

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2024-01-15 DOI: 10.1109/mra.2023.3336472

Murilo Marques Marinho, Juan José Quiroz-Omaña, Kanako Harada

引用次数: 0

An Unmanned Surface Vehicle for the Launch and Recovery of Autonomous Underwater Vehicles: A Novel Design 用于自主水下航行器发射和回收的无人水面航行器：新颖的设计

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2024-01-11 DOI: 10.1109/mra.2023.3348302

Yueying Wang, Weixiang Zhou, Minrui Fei, Huaicheng Yan

引用次数: 0

Marine Sediment Sampling With an Underwater Legged Robot: A User-Driven Sampling Approach for Microplastic Analysis 利用水下支腿机器人进行海洋沉积物采样：用于微塑料分析的用户驱动采样方法

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2024-01-10 DOI: 10.1109/mra.2023.3341288

Anna Astolfi, Mrudul Chellapurath, Giacomo Picardi, Martina Capriotti, Kayla Mladinich, Cecilia Laschi, Sergio Stefanni, Marcello Calisti

引用次数: 0

RoboTwin: A Platform to Study Hydrodynamic Interactions in Schooling Fish 机器人孪生兄弟：研究求学鱼类水动力相互作用的平台

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2024-01-10 DOI: 10.1109/mra.2023.3348303

Liang Li, Li-Ming Chao, Siyuan Wang, Oliver Deussen, Iain D. Couzin

引用次数: 0

Digital Robot Judge: Building a Task-centric Performance Database of Real-World Manipulation With Electronic Task Boards 数字机器人法官：利用电子任务板建立以任务为中心的真实世界操纵性能数据库

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2024-01-01 DOI: 10.1109/mra.2023.3336473

Peter So, Andriy Sarabakha, Fan Wu, Utku Culha, Fares J. Abu-Dakka, Sami Haddadin

引用次数: 0

Uncertainty-Aware Trajectory Planning: Using Uncertainty Quantification and Propagation in Traversability Prediction of Planetary Rovers 不确定性感知轨迹规划：将不确定性量化和传播用于行星探测器的可穿越性预测

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2024-01-01 DOI: 10.1109/mra.2023.3341289

Reiya Takemura, Genya Ishigami

引用次数: 0

Terrain-Adaptive Locomotion Control for an Underwater Hexapod Robot: Sensing Leg–Terrain Interaction With Proprioceptive Sensors 水下六足机器人的地形适应运动控制：用感觉传感器感知腿部与地形的相互作用

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2023-12-22 DOI: 10.1109/mra.2023.3341247

Lepeng Chen, Rongxin Cui, Weisheng Yan, Hui Xu, Shouxu Zhang, Haitao Yu

{"title":"Terrain-Adaptive Locomotion Control for an Underwater Hexapod Robot: Sensing Leg–Terrain Interaction With Proprioceptive Sensors","authors":"Lepeng Chen, Rongxin Cui, Weisheng Yan, Hui Xu, Shouxu Zhang, Haitao Yu","doi":"10.1109/mra.2023.3341247","DOIUrl":"https://doi.org/10.1109/mra.2023.3341247","url":null,"abstract":"An underwater hexapod robot, driven by six C-shaped legs and eight thrusters, has the potential to traverse diverse terrains with unknown deformable properties, which can lead to unknown leg–terrain interaction forces. However, it is hard to use exteroceptive sensors such as cameras and sonars to recognize these properties. Here we propose a method to perceive the interaction forces and feed them into a controller for determining thrust inputs. The key idea lies in using supervised learning to obtain the properties from reliable proprioceptive sensory data. First, we propose a new expression called zero moment point (ZMP) bias that can indirectly represent the leg–terrain interaction force, removing the effects caused by gravity, buoyancy, and thrust. Second, we gather a walking cycle’s discrete ZMP biases and then parameterize them as polynomials. Third, we use several previous walking cycles’ parameterized biases to predict the current walking cycle’s biases to generate the needed pitch and roll moments. Finally, we propose a terrain-adaptive locomotion controller for the robot, which incorporates these moments into a base control module and uses thrust to compensate for the interaction force for smooth walking. Extensive indoor pool and wild lake hardware experiments confirm our method’s effectiveness.","PeriodicalId":55019,"journal":{"name":"IEEE Robotics & Automation Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140205370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned From the Second BARN Challenge at ICRA 2023 [Competitions] 高度受限空间中的自主地面导航：从 2023 年 ICRA 第二届 BARN 挑战赛中汲取的经验教训 [竞赛］

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2023-12-12 DOI: 10.1109/mra.2023.3322920

Xuesu Xiao, Zifan Xu, Garrett Warnell, Peter Stone, Ferran Gebelli Guinjoan, R么mulo T. Rodrigues, Herman Bruyninckx, Hanjaya Mandala, Guilherme Christmann, Jose Luis Blanco-Claraco, Shravan Somashekara Rai

{"title":"Autonomous Ground Navigation in Highly Constrained Spaces: Lessons Learned From the Second BARN Challenge at ICRA 2023 [Competitions]","authors":"Xuesu Xiao, Zifan Xu, Garrett Warnell, Peter Stone, Ferran Gebelli Guinjoan, R么mulo T. Rodrigues, Herman Bruyninckx, Hanjaya Mandala, Guilherme Christmann, Jose Luis Blanco-Claraco, Shravan Somashekara Rai","doi":"10.1109/mra.2023.3322920","DOIUrl":"https://doi.org/10.1109/mra.2023.3322920","url":null,"abstract":"The second Benchmark Autonomous Robot Navigation (BARN) Challenge took place at the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) in London, U.K., and continued to evaluate the performance of state-of-the-art autonomous ground navigation systems in highly constrained environments. Compared to the first BARN Challenge at ICRA 2022 in Philadelphia, the competition has grown significantly in size, doubling the numbers of participants in both the simulation qualifier and physical finals: 10 teams from all over the world participated in the qualifying simulation competition, six of which were invited to compete with each other in three physical obstacle courses at the conference center in London. Three teams won the challenge by navigating a Clearpath Jackal robot from a predefined start to a goal with the shortest amount of time without colliding with any obstacle. The competition results, compared to those of last year, suggest that the teams are making progress toward more robust and efficient ground navigation systems that work out of the box in many obstacle environments. However, a significant amount of fine-tuning is still needed on site to cater to different difficult navigation scenarios. Furthermore, challenges still remain for many teams when facing extremely cluttered obstacles and increasing navigation speed. In this article, we discuss the challenge, the approaches used by the three winning teams, and lessons learned to direct future research.","PeriodicalId":55019,"journal":{"name":"IEEE Robotics & Automation Magazine","volume":null,"pages":null},"PeriodicalIF":5.7,"publicationDate":"2023-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138685282","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

The Art of Wine and Its Harvesting Methods [Student’s Corner] 葡萄酒的艺术及其采摘方法 [学生天地］

IF 5.7 3区计算机科学

IEEE Robotics & Automation Magazine Pub Date : 2023-12-12 DOI: 10.1109/mra.2023.3323104

Francesco Missiroli

引用次数: 0