Science Robotics最新文献

{"title":"Dexterous helical magnetic robot for improved endovascular access.","authors":"R Dreyfus, Q Boehler, S Lyttle, P Gruber, J Lussi, C Chautems, S Gervasoni, J Berberat, D Seibold, N Ochsenbein-Kölble, M Reinehr, M Weisskopf, L Remonda, B J Nelson","doi":"10.1126/scirobotics.adh0298","DOIUrl":"10.1126/scirobotics.adh0298","url":null,"abstract":"<p><p>Treating vascular diseases in the brain requires access to the affected region inside the body. This is usually accomplished through a minimally invasive technique that involves the use of long, thin devices, such as wires and tubes, that are manually maneuvered by a clinician within the bloodstream. By pushing, pulling, and twisting, these devices are navigated through the tortuous pathways of the blood vessels. The outcome of the procedure heavily relies on the clinician's skill and the device's ability to navigate to the affected target region in the bloodstream, which is often inhibited by tortuous blood vessels. Sharp turns require high flexibility, but this flexibility inhibits translation of proximal insertion to distal tip advancement. We present a highly dexterous, magnetically steered continuum robot that overcomes pushability limitations through rotation. A helical protrusion on the device's surface engages with the vessel wall and translates rotation to forward motion at every point of contact. An articulating magnetic tip allows for active steerability, enabling navigation from the aortic arch to millimeter-sized arteries of the brain. The effectiveness of the magnetic continuum robot has been demonstrated through successful navigation in models of the human vasculature and in blood vessels of a live pig.</p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 87","pages":"eadh0298"},"PeriodicalIF":26.1,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139736852","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":"3D-printed digital pneumatic logic for the control of soft robotic actuators","authors":"S. Conrad,&nbsp;J. Teichmann,&nbsp;P. Auth,&nbsp;N. Knorr,&nbsp;K. Ulrich,&nbsp;D. Bellin,&nbsp;T. Speck,&nbsp;F. J. Tauber","doi":"10.1126/scirobotics.adh4060","DOIUrl":"10.1126/scirobotics.adh4060","url":null,"abstract":"<div >Soft robots are paving their way to catch up with the application range of metal-based machines and to occupy fields that are challenging for traditional machines. Pneumatic actuators play an important role in this development, allowing the construction of bioinspired motion systems. Pneumatic logic gates provide a powerful alternative for controlling pressure-activated soft robots, which are often controlled by metallic valves and electric circuits. Many existing approaches for fully compliant pneumatic control logic suffer from high manual effort and low pressure tolerance. In our work, we invented three-dimensional (3D) printable, pneumatic logic gates that perform Boolean operations and imitate electric circuits. Within 7 hours, a filament printer is able to produce a module that serves as an OR, AND, or NOT gate; the logic function is defined by the assigned input signals. The gate contains two alternately acting pneumatic valves, whose work principle is based on the interaction of pressurized chambers and a 3D-printed 1-millimeter tube inside. The gate design does not require any kind of support material for its hollow parts, which makes the modules ready to use directly after printing. Depending on the chosen material, the modules can operate on a pressure supply between 80 and more than 750 kilopascals. The capabilities of the invented gates were verified by implementing an electronics-free drink dispenser based on a pneumatic ring oscillator and a 1-bit memory. Their high compliance is demonstrated by driving a car over a fully flexible, 3D-printed robotic walker controlled by an integrated circuit.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh4060","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139652281","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":"Overcoming adversaries in multirobot navigation","authors":"Amos Matsiko","doi":"10.1126/scirobotics.ado2404","DOIUrl":"10.1126/scirobotics.ado2404","url":null,"abstract":"<div >A path-planning algorithm allows safe navigation of robot teams in cluttered environments while in the presence of adversaries.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139652282","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":"What will robots think of us?","authors":"Robin R. Murphy","doi":"10.1126/scirobotics.adn6096","DOIUrl":"10.1126/scirobotics.adn6096","url":null,"abstract":"<div >Two recent science fiction novels humorously illustrate the importance of correct robot mental models.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139652283","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":"Robot swarms meet soft matter physics","authors":"Daniel I. Goldman,&nbsp;D. Zeb Rocklin","doi":"10.1126/scirobotics.adn6035","DOIUrl":"10.1126/scirobotics.adn6035","url":null,"abstract":"<div >Principles of soft matter physics can be leveraged to develop swarms of active robots with unique properties.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adn6035","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139547786","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":"Robots can motivate children to practice piano","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.ado1003","DOIUrl":"10.1126/scirobotics.ado1003","url":null,"abstract":"<div >Children who practiced piano with a robot that initiated self-assessment showed increased motivation and improved performance.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139547788","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":"iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots","authors":"Stefano Dafarra,&nbsp;Ugo Pattacini,&nbsp;Giulio Romualdi,&nbsp;Lorenzo Rapetti,&nbsp;Riccardo Grieco,&nbsp;Kourosh Darvish,&nbsp;Gianluca Milani,&nbsp;Enrico Valli,&nbsp;Ines Sorrentino,&nbsp;Paolo Maria Viceconte,&nbsp;Alessandro Scalzo,&nbsp;Silvio Traversaro,&nbsp;Carlotta Sartore,&nbsp;Mohamed Elobaid,&nbsp;Nuno Guedelha,&nbsp;Connor Herron,&nbsp;Alexander Leonessa,&nbsp;Francesco Draicchio,&nbsp;Giorgio Metta,&nbsp;Marco Maggiali,&nbsp;Daniele Pucci","doi":"10.1126/scirobotics.adh3834","DOIUrl":"10.1126/scirobotics.adh3834","url":null,"abstract":"<div >We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia. More precisely, the paper makes two contributions: First, we present the humanoid iCub3 as a robotic avatar that integrates the latest significant improvements after about 15 years of development of the iCub series. Second, we present a versatile avatar system enabling humans to embody humanoid robots encompassing aspects such as locomotion, manipulation, voice, and facial expressions with comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities. We validated the system by implementing several avatar architecture instances, each tailored to specific requirements. First, we evaluated the optimized architecture for verbal, nonverbal, and physical interactions with a remote recipient. This testing involved the operator in Genoa and the avatar in the Biennale di Venezia, Venice—about 290 kilometers away—thus allowing the operator to visit the Italian art exhibition remotely. Second, we evaluated the optimized architecture for recipient physical collaboration and public engagement on stage, live, at the We Make Future show, a prominent world digital innovation festival. In this instance, the operator was situated in Genoa while the avatar operated in Rimini—about 300 kilometers away—interacting with a recipient who entrusted the avatar with a payload to carry on stage before an audience of approximately 2000 spectators. Third, we present the architecture implemented by the iCub Team for the All Nippon Airways (ANA) Avatar XPrize competition.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh3834","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139547783","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":"A self-organizing robotic aggregate using solid and liquid-like collective states","authors":"Baudouin Saintyves,&nbsp;Matthew Spenko,&nbsp;Heinrich M. Jaeger","doi":"10.1126/scirobotics.adh4130","DOIUrl":"10.1126/scirobotics.adh4130","url":null,"abstract":"<div >Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a modular system that blurs the distinction between soft, modular, and swarm robotics. The system consists of gear-like units that each contain a single actuator such that units can self-assemble into larger, granular aggregates using magnetic coupling. These aggregates can reconfigure dynamically and also split into subsystems that might later recombine. Aggregates can self-organize into collective states with solid- and liquid-like properties, thus displaying widely differing compliance. These states can be perturbed locally via actuators or externally via mechanical feedback from the environment to produce adaptive shape-shifting in a decentralized manner. This, in turn, can generate locomotion strategies adapted to different conditions. Aggregates can move over obstacles without using external sensors or coordinates to maintain a steady gait over different surfaces without electronic communication among units. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh4130","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139547779","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":"DTC: Deep Tracking Control","authors":"Fabian Jenelten,&nbsp;Junzhe He,&nbsp;Farbod Farshidian,&nbsp;Marco Hutter","doi":"10.1126/scirobotics.adh5401","DOIUrl":"10.1126/scirobotics.adh5401","url":null,"abstract":"<div >Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such hierarchical model-based methods are appealing because of intuitive cost function tuning, accurate planning, generalization, and, most importantly, the insightful understanding gained from more than one decade of extensive research. However, model mismatch and violation of assumptions are common sources of faulty operation. Simulation-based reinforcement learning, on the other hand, results in locomotion policies with unprecedented robustness and recovery skills. Yet, all learning algorithms struggle with sparse rewards emerging from environments where valid footholds are rare, such as gaps or stepping stones. In this work, we propose a hybrid control architecture that combines the advantages of both worlds to simultaneously achieve greater robustness, foot-placement accuracy, and terrain generalization. Our approach uses a model-based planner to roll out a reference motion during training. A deep neural network policy is trained in simulation, aiming to track the optimized footholds. We evaluated the accuracy of our locomotion pipeline on sparse terrains, where pure data-driven methods are prone to fail. Furthermore, we demonstrate superior robustness in the presence of slippery or deformable ground when compared with model-based counterparts. Last, we show that our proposed tracking controller generalizes across different trajectory optimization methods not seen during training. In conclusion, our work unites the predictive capabilities and optimality guarantees of online planning with the inherent robustness attributed to offline learning.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh5401","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139485711","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":"Ultralight, strong, and self-reprogrammable mechanical metamaterials","authors":"Christine E. Gregg,&nbsp;Damiana Catanoso,&nbsp;Olivia Irene B. Formoso,&nbsp;Irina Kostitsyna,&nbsp;Megan E. Ochalek,&nbsp;Taiwo J. Olatunde,&nbsp;In Won Park,&nbsp;Frank M. Sebastianelli,&nbsp;Elizabeth M. Taylor,&nbsp;Greenfield T. Trinh,&nbsp;Kenneth C. Cheung","doi":"10.1126/scirobotics.adi2746","DOIUrl":"10.1126/scirobotics.adi2746","url":null,"abstract":"<div >Versatile programmable materials have long been envisioned that can reconfigure themselves to adapt to changing use cases in adaptive infrastructure, space exploration, disaster response, and more. We introduce a robotic structural system as an implementation of programmable matter, with mechanical performance and scale on par with conventional high-performance materials and truss systems. Fiber-reinforced composite truss-like building blocks form strong, stiff, and lightweight lattice structures as mechanical metamaterials. Two types of mobile robots operate over the exterior surface and through the interior of the system, performing transport, placement, and reversible fastening using the intrinsic lattice periodicity for indexing and metrology. Leveraging programmable matter algorithms to achieve scalability in size and complexity, this system design enables robust collective automated assembly and reconfiguration of large structures with simple robots. We describe the system design and experimental results from a 256–unit cell assembly demonstration and lattice mechanical testing, as well as a demonstration of disassembly and reconfiguration. The assembled structural lattice material exhibits ultralight mass density (0.0103 grams per cubic centimeter) with high strength and stiffness for its weight ( 11.38 kilopascals and 1.1129 megapascals, respectively), a material performance realm appropriate for applications like space structures. With simple robots and structure, high mass-specific structural performance, and competitive throughput, this system demonstrates the potential for self-reconfiguring autonomous metamaterials for diverse applications.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 86","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adi2746","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139485842","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}