Science Robotics最新文献

{"title":"Safe radiation surveillance using uncrewed vehicles","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.adp1760","DOIUrl":"10.1126/scirobotics.adp1760","url":null,"abstract":"<div >Uncrewed aerial vehicles could be used to collect radiation data after a dispersal event.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140177957","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":"Elastic energy-recycling actuators for efficient robots","authors":"Erez Krimsky, Steven H. Collins","doi":"https://www.science.org/doi/10.1126/scirobotics.adj7246","DOIUrl":"https://doi.org/https://www.science.org/doi/10.1126/scirobotics.adj7246","url":null,"abstract":"Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140182594","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":"EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration","authors":"T. S. Vaquero, G. Daddi, R. Thakker, M. Paton, A. Jasour, M. P. Strub, R. M. Swan, R. Royce, M. Gildner, P. Tosi, M. Veismann, P. Gavrilov, E. Marteau, J. Bowkett, D. Loret de Mola Lemus, Y. Nakka, B. Hockman, A. Orekhov, T. D. Hasseler, C. Leake, B. Nuernberger, P. Proença, W. Reid, W. Talbot, N. Georgiev, T. Pailevanian, A. Archanian, E. Ambrose, J. Jasper, R. Etheredge, C. Roman, D. Levine, K. Otsu, S. Yearicks, H. Melikyan, R. R. Rieber, K. Carpenter, J. Nash, A. Jain, L. Shiraishi, M. Robinson, M. Travers, H. Choset, J. Burdick, A. Gardner, M. Cable, M. Ingham, M. Ono","doi":"https://www.science.org/doi/10.1126/scirobotics.adh8332","DOIUrl":"https://doi.org/https://www.science.org/doi/10.1126/scirobotics.adh8332","url":null,"abstract":"Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through which the ocean water is ejected to space. An existing study has shown that sending small robots into the vents and directly sampling the ocean water is likely possible. To enable such a mission, NASA’s Jet Propulsion Laboratory is developing a snake-like robot called Exobiology Extant Life Surveyor (EELS) that can navigate Enceladus’ extreme surface and descend an erupting vent to capture unaltered liquid samples and potentially reach the ocean. However, navigating to and through Enceladus’ environment is challenging: Because of the limitations of existing orbital reconnaissance, there is substantial uncertainty with respect to its geometry and the physical properties of the surface/vents; communication is limited, which requires highly autonomous robots to execute the mission with limited human supervision. Here, we provide an overview of the EELS project and its development effort to create a risk-aware autonomous robot to navigate these extreme ice terrains/environments. We describe the robot’s architecture and the technical challenges to navigate and sense the icy environment safely and effectively. We focus on the challenges related to surface mobility, task and motion planning under uncertainty, and risk quantification. We provide initial results on mobility and risk-aware task and motion planning from field tests and simulated scenarios.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140192600","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":"ANYmal parkour: Learning agile navigation for quadrupedal robots","authors":"David Hoeller,&nbsp;Nikita Rudin,&nbsp;Dhionis Sako,&nbsp;Marco Hutter","doi":"10.1126/scirobotics.adi7566","DOIUrl":"10.1126/scirobotics.adi7566","url":null,"abstract":"<div >Performing agile navigation with four-legged robots is a challenging task because of the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. Here, we propose a fully learned approach to training such robots and conquer scenarios that are reminiscent of parkour challenges. The method involves training advanced locomotion skills for several types of obstacles, such as walking, jumping, climbing, and crouching, and then using a high-level policy to select and control those skills across the terrain. Thanks to our hierarchical formulation, the navigation policy is aware of the capabilities of each skill, and it will adapt its behavior depending on the scenario at hand. In addition, a perception module was trained to reconstruct obstacles from highly occluded and noisy sensory data and endows the pipeline with scene understanding. Compared with previous attempts, our method can plan a path for challenging scenarios without expert demonstration, offline computation, a priori knowledge of the environment, or taking contacts explicitly into account. Although these modules were trained from simulated data only, our real-world experiments demonstrate successful transfer on hardware, where the robot navigated and crossed consecutive challenging obstacles with speeds of up to 2 meters per second.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140121450","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":"ANYmal parkour: Learning agile navigation for quadrupedal robots","authors":"David Hoeller, Nikita Rudin, Dhionis Sako, Marco Hutter","doi":"https://www.science.org/doi/10.1126/scirobotics.adi7566","DOIUrl":"https://doi.org/https://www.science.org/doi/10.1126/scirobotics.adi7566","url":null,"abstract":"Performing agile navigation with four-legged robots is a challenging task because of the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. Here, we propose a fully learned approach to training such robots and conquer scenarios that are reminiscent of parkour challenges. The method involves training advanced locomotion skills for several types of obstacles, such as walking, jumping, climbing, and crouching, and then using a high-level policy to select and control those skills across the terrain. Thanks to our hierarchical formulation, the navigation policy is aware of the capabilities of each skill, and it will adapt its behavior depending on the scenario at hand. In addition, a perception module was trained to reconstruct obstacles from highly occluded and noisy sensory data and endows the pipeline with scene understanding. Compared with previous attempts, our method can plan a path for challenging scenarios without expert demonstration, offline computation, a priori knowledge of the environment, or taking contacts explicitly into account. Although these modules were trained from simulated data only, our real-world experiments demonstrate successful transfer on hardware, where the robot navigated and crossed consecutive challenging obstacles with speeds of up to 2 meters per second.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140188843","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":"Wireless flow-powered miniature robot capable of traversing tubular structures","authors":"Chong Hong,&nbsp;Yingdan Wu,&nbsp;Che Wang,&nbsp;Ziyu Ren,&nbsp;Chunxiang Wang,&nbsp;Zemin Liu,&nbsp;Wenqi Hu,&nbsp;Metin Sitti","doi":"10.1126/scirobotics.adi5155","DOIUrl":"10.1126/scirobotics.adi5155","url":null,"abstract":"<div >Wireless millimeter-scale robots capable of navigating through fluid-flowing tubular structures hold substantial potential for inspection, maintenance, or repair use in nuclear, industrial, and medical applications. However, prevalent reliance on external powering constrains these robots’ operational range and applicable environments. Alternatives with onboard powering must trade off size, functionality, and operation duration. Here, we propose a wireless millimeter-scale wheeled robot capable of using environmental flows to power and actuate its long-distance locomotion through complex pipelines. The flow-powering module can convert flow energy into mechanical energy, achieving an impeller speed of up to 9595 revolutions per minute, accompanied by an output power density of 11.7 watts per cubic meter and an efficiency of 33.7%. A miniature gearbox module can further transmit the converted mechanical energy into the robot’s locomotion system, allowing the robot to move against water flow at an average rate of up to 1.05 meters per second. The robot’s motion status (moving against/with flow or pausing) can be switched using an external magnetic field or an onboard mechanical regulator, contingent on different proposed control designs. In addition, we designed kirigami-based soft wheels for adaptive locomotion. The robot can move against flows of various substances within pipes featuring complex geometries and diverse materials. Solely powered by flow, the robot can transport cylindrical payloads with a diameter of up to 55% of the pipe’s diameter and carry devices such as an endoscopic camera for pipeline inspection, a wireless temperature sensor for environmental temperature monitoring, and a leak-stopper shell for infrastructure maintenance.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140121452","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":"EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration","authors":"T. S. Vaquero,&nbsp;G. Daddi,&nbsp;R. Thakker,&nbsp;M. Paton,&nbsp;A. Jasour,&nbsp;M. P. Strub,&nbsp;R. M. Swan,&nbsp;R. Royce,&nbsp;M. Gildner,&nbsp;P. Tosi,&nbsp;M. Veismann,&nbsp;P. Gavrilov,&nbsp;E. Marteau,&nbsp;J. Bowkett,&nbsp;D. Loret de Mola Lemus,&nbsp;Y. Nakka,&nbsp;B. Hockman,&nbsp;A. Orekhov,&nbsp;T. D. Hasseler,&nbsp;C. Leake,&nbsp;B. Nuernberger,&nbsp;P. Proença,&nbsp;W. Reid,&nbsp;W. Talbot,&nbsp;N. Georgiev,&nbsp;T. Pailevanian,&nbsp;A. Archanian,&nbsp;E. Ambrose,&nbsp;J. Jasper,&nbsp;R. Etheredge,&nbsp;C. Roman,&nbsp;D. Levine,&nbsp;K. Otsu,&nbsp;S. Yearicks,&nbsp;H. Melikyan,&nbsp;R. R. Rieber,&nbsp;K. Carpenter,&nbsp;J. Nash,&nbsp;A. Jain,&nbsp;L. Shiraishi,&nbsp;M. Robinson,&nbsp;M. Travers,&nbsp;H. Choset,&nbsp;J. Burdick,&nbsp;A. Gardner,&nbsp;M. Cable,&nbsp;M. Ingham,&nbsp;M. Ono","doi":"10.1126/scirobotics.adh8332","DOIUrl":"10.1126/scirobotics.adh8332","url":null,"abstract":"<div >Ice worlds are at the forefront of astrobiological interest because of the evidence of subsurface oceans. Enceladus in particular is unique among the icy moons because there are known vent systems that are likely connected to a subsurface ocean, through which the ocean water is ejected to space. An existing study has shown that sending small robots into the vents and directly sampling the ocean water is likely possible. To enable such a mission, NASA’s Jet Propulsion Laboratory is developing a snake-like robot called Exobiology Extant Life Surveyor (EELS) that can navigate Enceladus’ extreme surface and descend an erupting vent to capture unaltered liquid samples and potentially reach the ocean. However, navigating to and through Enceladus’ environment is challenging: Because of the limitations of existing orbital reconnaissance, there is substantial uncertainty with respect to its geometry and the physical properties of the surface/vents; communication is limited, which requires highly autonomous robots to execute the mission with limited human supervision. Here, we provide an overview of the EELS project and its development effort to create a risk-aware autonomous robot to navigate these extreme ice terrains/environments. We describe the robot’s architecture and the technical challenges to navigate and sense the icy environment safely and effectively. We focus on the challenges related to surface mobility, task and motion planning under uncertainty, and risk quantification. We provide initial results on mobility and risk-aware task and motion planning from field tests and simulated scenarios.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh8332","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140121451","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}

{"title":"Wireless flow-powered miniature robot capable of traversing tubular structures","authors":"Chong Hong, Yingdan Wu, Che Wang, Ziyu Ren, Chunxiang Wang, Zemin Liu, Wenqi Hu, Metin Sitti","doi":"https://www.science.org/doi/10.1126/scirobotics.adi5155","DOIUrl":"https://doi.org/https://www.science.org/doi/10.1126/scirobotics.adi5155","url":null,"abstract":"Wireless millimeter-scale robots capable of navigating through fluid-flowing tubular structures hold substantial potential for inspection, maintenance, or repair use in nuclear, industrial, and medical applications. However, prevalent reliance on external powering constrains these robots’ operational range and applicable environments. Alternatives with onboard powering must trade off size, functionality, and operation duration. Here, we propose a wireless millimeter-scale wheeled robot capable of using environmental flows to power and actuate its long-distance locomotion through complex pipelines. The flow-powering module can convert flow energy into mechanical energy, achieving an impeller speed of up to 9595 revolutions per minute, accompanied by an output power density of 11.7 watts per cubic meter and an efficiency of 33.7%. A miniature gearbox module can further transmit the converted mechanical energy into the robot’s locomotion system, allowing the robot to move against water flow at an average rate of up to 1.05 meters per second. The robot’s motion status (moving against/with flow or pausing) can be switched using an external magnetic field or an onboard mechanical regulator, contingent on different proposed control designs. In addition, we designed kirigami-based soft wheels for adaptive locomotion. The robot can move against flows of various substances within pipes featuring complex geometries and diverse materials. Solely powered by flow, the robot can transport cylindrical payloads with a diameter of up to 55% of the pipe’s diameter and carry devices such as an endoscopic camera for pipeline inspection, a wireless temperature sensor for environmental temperature monitoring, and a leak-stopper shell for infrastructure maintenance.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140123874","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":"Magnetic robots make headway in medicine.","authors":"Amos Matsiko","doi":"10.1126/scirobotics.ado3194","DOIUrl":"10.1126/scirobotics.ado3194","url":null,"abstract":"","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":26.1,"publicationDate":"2024-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139991963","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":"An ingestible self-propelling device for intestinal reanimation","authors":"Shriya S. Srinivasan,&nbsp;Julien Dosso,&nbsp;Hen-Wei Huang,&nbsp;George Selsing,&nbsp;Amro Alshareef,&nbsp;Johannes Kuosmanen,&nbsp;Keiko Ishida,&nbsp;Joshua Jenkins,&nbsp;Wiam Abdalla Mohammed Madani,&nbsp;Alison Hayward,&nbsp;Giovanni Traverso","doi":"10.1126/scirobotics.adh8170","DOIUrl":"10.1126/scirobotics.adh8170","url":null,"abstract":"<div >Postoperative ileus (POI) is the leading cause of prolonged hospital stay after abdominal surgery and is characterized by a functional paralysis of the digestive tract, leading to symptoms such as constipation, vomiting, and functional obstruction. Current treatments are mainly supportive and inefficacious and yield acute side effects. Although electrical stimulation studies have demonstrated encouraging pacing and entraining of the intestinal slow waves, no devices exist today to enable targeted intestinal reanimation. Here, we developed an ingestible self-propelling device for intestinal reanimation (INSPIRE) capable of restoring peristalsis through luminal electrical stimulation. Optimizing mechanical, material, and electrical design parameters, we validated optimal deployment, intestinal electrical luminal contact, self-propelling capability, safety, and degradation of the device in ex vivo and in vivo swine models. We compared the INSPIRE’s effect on motility in models of normal and depressed motility and chemically induced ileus. Intestinal contraction improved by 44% in anesthetized animals and up to 140% in chemically induced ileus cases. In addition, passage time decreased from, on average, 8.6 days in controls to 2.5 days with the INSPIRE device, demonstrating significant improvement in motility. Luminal electrical stimulation of the intestine via the INSPIRE efficaciously restored peristaltic activity. This noninvasive option offers a promising solution for the treatment of ileus and other motility disorders.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh8170","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139991962","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}