Science Robotics最新文献

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-30 DOI: 10.1126/scirobotics.ady2833

Amos Matsiko

引用次数: 0

Swimming in the “Matrix”: VR fish pass the Turing test using a simple control law for collective behavior 在“黑客帝国”中游泳：VR鱼通过图灵测试，使用简单的集体行为控制律

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-30 DOI: 10.1126/scirobotics.adw8581

Noah J. Cowan, Robert J. Full

引用次数: 0

Reverse engineering the control law for schooling in zebrafish using virtual reality 利用虚拟现实技术对斑马鱼鱼群控制规律进行逆向工程

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-30 DOI: 10.1126/scirobotics.adq6784

Liang Li, Máté Nagy, Guy Amichay, Ruiheng Wu, Wei Wang, Oliver Deussen, Daniela Rus, Iain D. Couzin

{"title":"Reverse engineering the control law for schooling in zebrafish using virtual reality","authors":"Liang Li, Máté Nagy, Guy Amichay, Ruiheng Wu, Wei Wang, Oliver Deussen, Daniela Rus, Iain D. Couzin","doi":"10.1126/scirobotics.adq6784","DOIUrl":"10.1126/scirobotics.adq6784","url":null,"abstract":"<div >Revealing the evolved mechanisms that give rise to collective behavior is a central objective in the study of cellular and organismal systems. In addition, understanding the algorithmic basis of social interactions in a causal and quantitative way offers an important foundation for subsequently quantifying social deficits. Here, with virtual reality technology, we used virtual robot fish to reverse engineer the sensory-motor control of social response during schooling in a vertebrate model: juvenile zebrafish (<i>Danio rerio</i>). In addition to providing a highly controlled means to understand how zebrafish translate visual input into movement decisions, networking our systems allowed real fish to swim and interact together in the same virtual world. Thus, we were able to directly test models of social interactions in situ. A key feature of social response is shown to be single- and multitarget-oriented pursuit. This is based on an egocentric representation of the positional information of conspecifics and is highly robust to incomplete sensory input. We demonstrated, including with a Turing test and a scalability test for pursuit behavior, that all key features of this behavior are accounted for by individuals following a simple experimentally derived proportional derivative control law, which we termed “BioPD.” Because target pursuit is key to effective control of autonomous vehicles, we evaluated—as a proof of principle—the potential use of this simple evolved control law for human-engineered systems. In doing so, we found close-to-optimal pursuit performance in autonomous vehicle (terrestrial, airborne, and watercraft) pursuit while requiring limited system-specific tuning or optimization.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 101","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adq6784","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143893068","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

Achieving animal endurance in robots through advanced energy storage 通过先进的能量存储实现机器人的动物耐力

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-30 DOI: 10.1126/scirobotics.adr6125

Yichao Shi, James H. Pikul

引用次数: 0

Aerial additive manufacturing: Toward on-site building construction with aerial robots 空中增材制造：面向空中机器人现场建筑施工

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-23 DOI: 10.1126/scirobotics.ado6251

Yusuf Furkan Kaya, Lachlan Orr, Basaran Bahadir Kocer, Vijay Pawar, Robert Stuart-Smith, Mirko Kovač

引用次数: 0

Understanding humanoid robots could save your life 了解仿人机器人可以挽救您的生命

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-23 DOI: 10.1126/scirobotics.adw9925

Robin R. Murphy

引用次数: 0

Biohybrid robot contracts like the human iris 生物混合机器人像人的虹膜一样收缩

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-23 DOI: 10.1126/scirobotics.ady1403

Melisa Yashinski

引用次数: 0

Reversible kink instability drives ultrafast jumping in nematodes and soft robots 可逆扭结不稳定性驱动线虫和软机器人超快跳跃

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-23 DOI: 10.1126/scirobotics.adq3121

Sunny Kumar, Ishant Tiwari, Victor M. Ortega-Jimenez, Adler R. Dillman, Dongjing He, Yuhang Hu, Saad Bhamla

{"title":"Reversible kink instability drives ultrafast jumping in nematodes and soft robots","authors":"Sunny Kumar, Ishant Tiwari, Victor M. Ortega-Jimenez, Adler R. Dillman, Dongjing He, Yuhang Hu, Saad Bhamla","doi":"10.1126/scirobotics.adq3121","DOIUrl":"10.1126/scirobotics.adq3121","url":null,"abstract":"<div >Entomopathogenic nematodes (EPNs) exhibit a bending-elastic instability, or kink, before becoming airborne, a feature previously hypothesized but not substantiated to enhance jumping performance. Here, we provide the evidence that this kink is crucial for improving launch performance. We demonstrate that EPNs actively modulate their aspect ratio, forming a liquid-latched α-shaped loop over a slow timescale <span><math><mrow><mi>O</mi></mrow></math></span> (1 second), and then rapidly open it <span><math><mrow><mi>O</mi></mrow></math></span> (10 microseconds), achieving heights of 20 body lengths and generating power of ∼10<sup>4</sup> watts per kilogram. Using a bioinspired physical model [termed the soft jumping model (SoftJM)], we explored the mechanisms and implications of this kink. EPNs control their takeoff direction by adjusting their head position and center of mass, a mechanism verified through phase maps of jump directions in numerical simulations and SoftJM experiments. Our findings reveal that the reversible kink instability at the point of highest curvature on the ventral side enhances energy storage using the nematode’s limited muscular force. We investigated the effect of the aspect ratio on kink instability and jumping performance using SoftJM and quantified EPN cuticle stiffness with atomic force microscopy measurements, comparing these findings with those of <i>Caenorhabditis elegans</i>. This investigation led to a stiffness-modified SoftJM design with a carbon fiber backbone, achieving jumps of ∼25 body lengths. Our study reveals how harnessing kink instabilities, a typical failure mode, enables bidirectional jumping in soft robots on complex substrates like sand, offering an approach for designing limbless robots for controlled jumping, locomotion, and even planetary exploration.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 101","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143866081","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

Sticking the landing: Insect-inspired strategies for safely landing flapping-wing aerial microrobots 粘着着陆：受昆虫启发的扑翼空中微型机器人安全着陆策略

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-16 DOI: 10.1126/scirobotics.adq3059

Nak-seung P. Hyun, Christian M. Chan, Alyssa M. Hernandez, Robert J. Wood

{"title":"Sticking the landing: Insect-inspired strategies for safely landing flapping-wing aerial microrobots","authors":"Nak-seung P. Hyun, Christian M. Chan, Alyssa M. Hernandez, Robert J. Wood","doi":"10.1126/scirobotics.adq3059","DOIUrl":"10.1126/scirobotics.adq3059","url":null,"abstract":"<div >For flying insects, the transition from flight to surface locomotion requires effective touchdown maneuvers that allow stable landings on a variety of surfaces. Landing behaviors of insects are diverse, with some using more controlled flight approaches to landing, whereas others dampen collision impacts with parts of their bodies. The landing approaches of real insects inspired our current work, where we present a combined mechanical and control approach to achieving safe and accurate landings for flapping-wing microaerial vehicles. For the mechanical approach to landing, we took inspiration from the legs of the crane fly, designing lossy compliant legs that maximize energy dissipation during surface collisions. We explored three features in the compliant leg design: leg stance, number of joints, and joint placement. For the control approach to landing, the challenge lies in overcoming the aerodynamic ground effect near the surface. Leveraging the compliant leg design during impact, we designed the preimpact behavior, drawing inspiration from insect landing trajectories, to increase landing success. The proposed controlled landing sequence includes an initial acceleration from hovering, followed by deceleration toward the target, ending with a nonzero impact velocity, similar to what is observed in insects. Last, using an insect-scale flapping-wing aerial microrobot platform (Harvard RoboBee), we verified the controlled, safe, and accurate landing on natural terrain.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 101","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adq3059","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143841845","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

Unlocking aerobatic potential of quadcopters: Autonomous freestyle flight generation and execution 解锁四轴飞行器的特技飞行潜力：自主自由式飞行的产生和执行

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-16 DOI: 10.1126/scirobotics.adp9905

Mingyang Wang, Qianhao Wang, Ze Wang, Yuman Gao, Jingping Wang, Can Cui, Yuan Li, Ziming Ding, Kaiwei Wang, Chao Xu, Fei Gao

{"title":"Unlocking aerobatic potential of quadcopters: Autonomous freestyle flight generation and execution","authors":"Mingyang Wang, Qianhao Wang, Ze Wang, Yuman Gao, Jingping Wang, Can Cui, Yuan Li, Ziming Ding, Kaiwei Wang, Chao Xu, Fei Gao","doi":"10.1126/scirobotics.adp9905","DOIUrl":"10.1126/scirobotics.adp9905","url":null,"abstract":"<div >Quadcopter drones are capable of executing complex aerobatic maneuvers when controlled manually by skilled pilots but are limited to simple aerobatic actions when flying autonomously in open spaces. As such, this study introduces a comprehensive system that enables drones to generate and execute sophisticated aerobatic maneuvers in complex environments with dense obstacle distributions. A universal representation is proposed, succinctly capturing flight as a series of discrete aerobatic intentions. These intentions consist of topology and attitude changes, which can be combined in various ways to describe intricate flight maneuvers. A spatial-temporal joint optimization trajectory planner is also introduced to generate dynamically feasible trajectories that are as smooth as possible and devoid of collisions. In addition, we investigate unique yaw sensitivity issues in aerobatic flight and identify the inherent influence of differential flatness singularities on yaw rotations while avoiding associated dynamics issues. A series of ablation studies confirmed the necessity of these spatial-temporal joint optimization and yaw compensation strategies. Additional simulations and physical experiments validated the stability and feasibility of our proposed system for improving uncrewed aerial flight. The proposed system enables drones to autonomously achieve flight performance usually reserved for professional pilots, unlocking boundless potential for aerobatic flight evolution in uncrewed aerial vehicles.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 101","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143841846","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