Science Robotics最新文献

{"title":"A springtail-inspired multimodal walking-jumping microrobot","authors":"Francisco Ramirez Serrano, Nak-seung Patrick Hyun, Emma Steinhardt, Pierre-Louis Lechère, Robert J. Wood","doi":"10.1126/scirobotics.adp7854","DOIUrl":"https://doi.org/10.1126/scirobotics.adp7854","url":null,"abstract":"Although legged robots have demonstrated effective mobility in some natural settings, as robot size decreases, obstacles in their environment become challenging to overcome. Small arthropods scale obstacles many times their size through jumps powered by mechanisms that overcome speed and power limitations of muscle alone. The motivation for this study was to explore the marriage of impulsive (jumping) and nonimpulsive (cyclic legged ambulation) behaviors in a centimeter-scale robot. Here, jumping is achieved by striking the ground with a bioinspired appendage connected to a parallel linkage. As the linkage configuration passes through the singularity, a torque reversal occurs whereby elastic energy slowly stored by force-dense velocity-limited shape memory alloy actuators is rapidly released. A passively driven elastic hinge is introduced in the striking arm to mediate ground contact forces and direct jumping. High-speed video recording of the 14-millisecond launch phase reveals previously undocumented takeoff dynamics closely resembling those of springtails. A dynamic model was derived, and an experimentally validated simulation was used to optimize the design of key components. The 2.2-gram, 6.1-centimeter-long mechanism achieved a maximum horizontal jumping distance of 1.4 meters (23 body lengths), surpassing that of similarly sized insects. The mechanism was integrated with an agile quadrupedal microrobot with leg articulation suitable to achieve the ideal jumping posture. The platform demonstrated repeatable directional takeoffs and upright landings, enabling complex maneuvers to overcome obstacles and gaps. Last, we used this bioinspired robot to offer reflection on hypotheses related to springtail jumping behavior.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"129 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143507136","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}

{"title":"Telesurgery and the importance of context","authors":"Florian Heemeyer,&nbsp;Quentin Boehler,&nbsp;Minsoo Kim,&nbsp;Bernard R. Bendok,&nbsp;Evelyn L. Turcotte,&nbsp;H. Hunt Batjer,&nbsp;Ryan D. Madder,&nbsp;Vitor M. Pereira,&nbsp;Bradley J. Nelson","doi":"","DOIUrl":"","url":null,"abstract":"<div >Telesurgery has the potential to overcome geographical barriers in surgical care, encouraging its deployment in areas with sparse surgical expertise. Despite successful in-human experiments and substantial technological progress, the adoption of telesurgery remains slow. In this Review, we analyze the reasons for this slow adoption. First, we identify various contexts for telesurgery and highlight the vastly different requirements for their realization. We then discuss why procedures with high urgency and skill sparsity are particularly suitable for telesurgery. Last, we summarize key research areas essential for further progress. The goal of this Review is to provide the reader with a comprehensive analysis of the current state of telesurgery research and to provide guidance for faster adoption of this exciting technology.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513969","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}

{"title":"Virtual elasto-plastic robot compliance to active environments","authors":"Michael Panzirsch, Harsimran Singh, Xuwei Wu, Maged Iskandar, Anne Koepken, Rute Luz, Nesrine Batti, Florian S. Lay, Ajithkumar Narayanan Manaparampil, Luisa Mayershofer, Xiaozhou Luo, Robert Burger, Samuel Bustamante-Gomez, Jörg Butterfass, Emiel den Exter, Werner Friedl, Thomas Gumpert, Pedro Pavelski, Gabriel Quere, Florian Schmidt, Alin Albu-Schaeffer, Adrian S. Bauer, Daniel Leidner, Peter Schmaus, Annette Hagengruber, Thomas Krueger, Jörn Vogel, Neal Y. Lii","doi":"10.1126/scirobotics.adq1703","DOIUrl":"https://doi.org/10.1126/scirobotics.adq1703","url":null,"abstract":"Humans exhibit a particular compliant behavior in interactions with their environment. Facilitated by fast physical reasoning, humans are able to rapidly alter their compliance, enhancing robustness and safety in active environments. Transferring these capabilities to robotics is of utmost importance particularly as major space agencies begin investigating the potential of cooperative robotic teams in space. In this scenario, robots in orbit or on planetary surfaces are meant to support astronauts in exploration, maintenance, and habitat building to reduce costs and risks of space missions. A major challenge for interactive robot teams is establishing the capability to act in and interact with dynamic environments. Analogous to humans, the robot should be not only particularly compliant in case of unexpected collisions with other systems but also able to cooperatively handle objects requiring accurate pose estimation and fast trajectory planning. Here, we show that these challenges can be attenuated through an enhancement of active robot compliance introducing a virtual plastic first-order impedance component. We present how elasto-plastic compliance can be realized via energy-based detection of active environments and how evasive motions can be enabled through adaptive plastic compliance. Two space teleoperation experiments using different robotic assets confirm the potential of the method to enhance robustness in interaction with articulated objects and facilitate robot cooperation. An experiment in a health care facility presents how the same method analogously solidifies robotic interactions in human-robot shared environments by giving the robot a subordinate role.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"28 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143506840","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}

{"title":"Wearable robot provides lumbar and arm support","authors":"Melisa Yashinski","doi":"","DOIUrl":"","url":null,"abstract":"<div >Exosuit with two-stage mechanism transmits force from a single motor to multiple muscle groups during manual handling tasks.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513952","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}

{"title":"Robotic locomotion through active and passive morphological adaptation in extreme outdoor environments","authors":"Max Polzin, Qinghua Guan, Josie Hughes","doi":"10.1126/scirobotics.adp6419","DOIUrl":"https://doi.org/10.1126/scirobotics.adp6419","url":null,"abstract":"Robotic locomotion has shown substantial advancements, yet robots still lack the versatility and agility shown by animals navigating complex terrains. This limits their applicability in complex environments where they could be highly beneficial. Unlike existing robots that rely on intricate perception systems to construct models of both themselves and their surroundings, a more bioinspired approach leverages reconfiguration to adapt a robot’s morphology to its environment. Although interest in such multimodal, terrain-adaptive robots is increasing, their capacity for morphological reconfiguration often remains confined to specific body parts or comes at the expense of increased system complexity and reduced locomotion efficiency. Our study seeks to enhance robotic locomotion by developing robots that can actively reconfigure their morphology, altering their physical properties and leveraging their adaptability to navigate efficiently in diverse environments. We demonstrate how combining a compliant structure with morphological reconfiguration allowed a robot to transition between flat and spherical forms, enabling autonomous, multimodal locomotion—driving, rolling, and swimming—across complex terrains with minimal sensing. By actively reconfiguring its morphology to adapt physical properties for compliant interactions, the robot enhanced locomotion across rough, diverse environments. Leveraging its adaptability in different locomotion modes to navigate a 4.5-kilometer path across mountainous, aquatic, and urban terrains, the robot outperformed traditional and multimodal robots in terms of versatility, energy efficiency, and robustness. Developing versatile, energy-efficient, compliant robots capable of reconfiguring their morphology could substantially enhance autonomous navigation, opening up broader applications in unstructured environments, from environmental monitoring to disaster response and extraterrestrial exploration.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"27 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143506839","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}

{"title":"A springtail-inspired multimodal walking-jumping microrobot","authors":"Francisco Ramirez Serrano,&nbsp;Nak-seung Patrick Hyun,&nbsp;Emma Steinhardt,&nbsp;Pierre-Louis Lechère,&nbsp;Robert J. Wood","doi":"","DOIUrl":"","url":null,"abstract":"<div >Although legged robots have demonstrated effective mobility in some natural settings, as robot size decreases, obstacles in their environment become challenging to overcome. Small arthropods scale obstacles many times their size through jumps powered by mechanisms that overcome speed and power limitations of muscle alone. The motivation for this study was to explore the marriage of impulsive (jumping) and nonimpulsive (cyclic legged ambulation) behaviors in a centimeter-scale robot. Here, jumping is achieved by striking the ground with a bioinspired appendage connected to a parallel linkage. As the linkage configuration passes through the singularity, a torque reversal occurs whereby elastic energy slowly stored by force-dense velocity-limited shape memory alloy actuators is rapidly released. A passively driven elastic hinge is introduced in the striking arm to mediate ground contact forces and direct jumping. High-speed video recording of the 14-millisecond launch phase reveals previously undocumented takeoff dynamics closely resembling those of springtails. A dynamic model was derived, and an experimentally validated simulation was used to optimize the design of key components. The 2.2-gram, 6.1-centimeter-long mechanism achieved a maximum horizontal jumping distance of 1.4 meters (23 body lengths), surpassing that of similarly sized insects. The mechanism was integrated with an agile quadrupedal microrobot with leg articulation suitable to achieve the ideal jumping posture. The platform demonstrated repeatable directional takeoffs and upright landings, enabling complex maneuvers to overcome obstacles and gaps. Last, we used this bioinspired robot to offer reflection on hypotheses related to springtail jumping behavior.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513971","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}

{"title":"Telesurgery and the importance of context","authors":"Florian Heemeyer, Quentin Boehler, Minsoo Kim, Bernard R. Bendok, Evelyn L. Turcotte, H. Hunt Batjer, Ryan D. Madder, Vitor M. Pereira, Bradley J. Nelson","doi":"10.1126/scirobotics.adq0192","DOIUrl":"https://doi.org/10.1126/scirobotics.adq0192","url":null,"abstract":"Telesurgery has the potential to overcome geographical barriers in surgical care, encouraging its deployment in areas with sparse surgical expertise. Despite successful in-human experiments and substantial technological progress, the adoption of telesurgery remains slow. In this Review, we analyze the reasons for this slow adoption. First, we identify various contexts for telesurgery and highlight the vastly different requirements for their realization. We then discuss why procedures with high urgency and skill sparsity are particularly suitable for telesurgery. Last, we summarize key research areas essential for further progress. The goal of this Review is to provide the reader with a comprehensive analysis of the current state of telesurgery research and to provide guidance for faster adoption of this exciting technology.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"26 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143507103","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}

{"title":"Virtual elasto-plastic robot compliance to active environments","authors":"Michael Panzirsch,&nbsp;Harsimran Singh,&nbsp;Xuwei Wu,&nbsp;Maged Iskandar,&nbsp;Anne Koepken,&nbsp;Rute Luz,&nbsp;Nesrine Batti,&nbsp;Florian S. Lay,&nbsp;Ajithkumar Narayanan Manaparampil,&nbsp;Luisa Mayershofer,&nbsp;Xiaozhou Luo,&nbsp;Robert Burger,&nbsp;Samuel Bustamante-Gomez,&nbsp;Jörg Butterfass,&nbsp;Emiel den Exter,&nbsp;Werner Friedl,&nbsp;Thomas Gumpert,&nbsp;Pedro Pavelski,&nbsp;Gabriel Quere,&nbsp;Florian Schmidt,&nbsp;Alin Albu-Schaeffer,&nbsp;Adrian S. Bauer,&nbsp;Daniel Leidner,&nbsp;Peter Schmaus,&nbsp;Annette Hagengruber,&nbsp;Thomas Krueger,&nbsp;Jörn Vogel,&nbsp;Neal Y. Lii","doi":"","DOIUrl":"","url":null,"abstract":"<div >Humans exhibit a particular compliant behavior in interactions with their environment. Facilitated by fast physical reasoning, humans are able to rapidly alter their compliance, enhancing robustness and safety in active environments. Transferring these capabilities to robotics is of utmost importance particularly as major space agencies begin investigating the potential of cooperative robotic teams in space. In this scenario, robots in orbit or on planetary surfaces are meant to support astronauts in exploration, maintenance, and habitat building to reduce costs and risks of space missions. A major challenge for interactive robot teams is establishing the capability to act in and interact with dynamic environments. Analogous to humans, the robot should be not only particularly compliant in case of unexpected collisions with other systems but also able to cooperatively handle objects requiring accurate pose estimation and fast trajectory planning. Here, we show that these challenges can be attenuated through an enhancement of active robot compliance introducing a virtual plastic first-order impedance component. We present how elasto-plastic compliance can be realized via energy-based detection of active environments and how evasive motions can be enabled through adaptive plastic compliance. Two space teleoperation experiments using different robotic assets confirm the potential of the method to enhance robustness in interaction with articulated objects and facilitate robot cooperation. An experiment in a health care facility presents how the same method analogously solidifies robotic interactions in human-robot shared environments by giving the robot a subordinate role.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513935","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}

{"title":"Wearable robot provides lumbar and arm support.","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.adw4932","DOIUrl":"https://doi.org/10.1126/scirobotics.adw4932","url":null,"abstract":"<p><p>Exosuit with two-stage mechanism transmits force from a single motor to multiple muscle groups during manual handling tasks.</p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":"eadw4932"},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143517602","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}

{"title":"Robotic locomotion through active and passive morphological adaptation in extreme outdoor environments","authors":"Max Polzin,&nbsp;Qinghua Guan,&nbsp;Josie Hughes","doi":"","DOIUrl":"","url":null,"abstract":"<div >Robotic locomotion has shown substantial advancements, yet robots still lack the versatility and agility shown by animals navigating complex terrains. This limits their applicability in complex environments where they could be highly beneficial. Unlike existing robots that rely on intricate perception systems to construct models of both themselves and their surroundings, a more bioinspired approach leverages reconfiguration to adapt a robot’s morphology to its environment. Although interest in such multimodal, terrain-adaptive robots is increasing, their capacity for morphological reconfiguration often remains confined to specific body parts or comes at the expense of increased system complexity and reduced locomotion efficiency. Our study seeks to enhance robotic locomotion by developing robots that can actively reconfigure their morphology, altering their physical properties and leveraging their adaptability to navigate efficiently in diverse environments. We demonstrate how combining a compliant structure with morphological reconfiguration allowed a robot to transition between flat and spherical forms, enabling autonomous, multimodal locomotion—driving, rolling, and swimming—across complex terrains with minimal sensing. By actively reconfiguring its morphology to adapt physical properties for compliant interactions, the robot enhanced locomotion across rough, diverse environments. Leveraging its adaptability in different locomotion modes to navigate a 4.5-kilometer path across mountainous, aquatic, and urban terrains, the robot outperformed traditional and multimodal robots in terms of versatility, energy efficiency, and robustness. Developing versatile, energy-efficient, compliant robots capable of reconfiguring their morphology could substantially enhance autonomous navigation, opening up broader applications in unstructured environments, from environmental monitoring to disaster response and extraterrestrial exploration.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513972","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}