Science Robotics最新文献_第2页

Monte Carlo tree search with spectral expansion for planning with dynamical systems

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-12-04 DOI: 10.1126/scirobotics.ado1010

Benjamin Rivière, John Lathrop, Soon-Jo Chung

{"title":"Monte Carlo tree search with spectral expansion for planning with dynamical systems","authors":"Benjamin Rivière, John Lathrop, Soon-Jo Chung","doi":"10.1126/scirobotics.ado1010","DOIUrl":"https://doi.org/10.1126/scirobotics.ado1010","url":null,"abstract":"The ability of a robot to plan complex behaviors with real-time computation, rather than adhering to predesigned or offline-learned routines, alleviates the need for specialized algorithms or training for each problem instance. Monte Carlo tree search is a powerful planning algorithm that strategically explores simulated future possibilities, but it requires a discrete problem representation that is irreconcilable with the continuous dynamics of the physical world. We present Spectral Expansion Tree Search (SETS), a real-time, tree-based planner that uses the spectrum of the locally linearized system to construct a low-complexity and approximately equivalent discrete representation of the continuous world. We prove that SETS converges to a bound of the globally optimal solution for continuous, deterministic, and differentiable Markov decision processes, a broad class of problems that includes underactuated nonlinear dynamics, nonconvex reward functions, and unstructured environments. We experimentally validated SETS on drone, spacecraft, and ground vehicle robots and one numerical experiment, each of which is not directly solvable with existing methods. We successfully show that SETS automatically discovers a diverse set of optimal behaviors and motion trajectories in real time.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"219 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142776657","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

Upgrading and extending the life cycle of soft robots with in situ free-form liquid three-dimensional printing

IF 25 1区计算机科学

Science Robotics Pub Date : 2024-12-04 DOI: 10.1126/scirobotics.adn4542

Elgar Kanhere, Théo Calais, Snehal Jain, Aby Raj Plamootil Mathai, Aaron Chooi, Thileepan Stalin, Vincent Sebastian Joseph, Pablo Valdivia y Alvarado

{"title":"Upgrading and extending the life cycle of soft robots with in situ free-form liquid three-dimensional printing","authors":"Elgar Kanhere, Théo Calais, Snehal Jain, Aby Raj Plamootil Mathai, Aaron Chooi, Thileepan Stalin, Vincent Sebastian Joseph, Pablo Valdivia y Alvarado","doi":"10.1126/scirobotics.adn4542","DOIUrl":"https://doi.org/10.1126/scirobotics.adn4542","url":null,"abstract":"Soft robotics hardware, with numerous applications ranging from health care to exploration of unstructured environments, suffers from limited life cycles, which lead to waste generation and poor sustainability. Soft robots combine soft or hybrid components via complex assembly and disassembly workflows, which complicate the repair of broken components, hinder upgradability, and ultimately reduce their life spans. In this work, an advanced extrusion-based additive manufacturing process, in situ free-form liquid three-dimensional printing (iFL3DP), was developed to facilitate functional upgrades and repairs in soft robots. A yield-stress hydrogel—a type of material that can maintain its shape until sufficient stress is applied—was first printed directly onto the robot surface, serving as a support for printing new components. This technique enabled the fabrication of advanced components with seamless integration onto already assembled robots. These components could combine multiple materials with intricate geometries, including overhangs and high–aspect ratio shapes, that are considerably challenging to manufacture and integrate via traditional methods such as casting. This approach was successfully applied to upgrade an existing soft robot by adding three advanced functionalities: whisker-like sensors for tactile feedback, a grasping mechanism, and a multifunctional passive whisker array. This study showcases the easy repairability of features, new and old, substantially extending the robot’s life span. This workflow has potential to enhance the sustainable development of soft robots.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"77 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142776656","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

Promoting diverse and inclusive spaces with intentionality.

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-12-04 DOI: 10.1126/scirobotics.adu0906

Marquise D Bell

引用次数: 0

The cold truth about robotics research in the United Kingdom as a Caribbean woman.

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-12-04 DOI: 10.1126/scirobotics.adu2844

Nikita Jasmine Greenidge

引用次数: 0

Coordinated behavior of autonomous microscopic machines through local electronic pulse coupling 通过局部电子脉冲耦合实现自主微型机器的协调行为

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-27 DOI: 10.1126/scirobotics.adn8067

Milad Taghavi, Wei Wang, Kyubum Shim, Jinsong Zhang, Itai Cohen, Alyssa Apsel

{"title":"Coordinated behavior of autonomous microscopic machines through local electronic pulse coupling","authors":"Milad Taghavi, Wei Wang, Kyubum Shim, Jinsong Zhang, Itai Cohen, Alyssa Apsel","doi":"10.1126/scirobotics.adn8067","DOIUrl":"10.1126/scirobotics.adn8067","url":null,"abstract":"<div >Increasingly functional microscopic machines are poised to have massive technical influence in areas including targeted drug delivery, precise surgical interventions, and environmental remediation. Such functionalities would increase markedly if collections of these microscopic machines were able to coordinate their function to achieve cooperative emergent behaviors. Implementing such coordination, however, requires a scalable strategy for synchronization—a key stumbling block for achieving collective behaviors of multiple autonomous microscopic units. Here, we show that pulse-coupled complementary metal-oxide semiconductor oscillators offer a tangible solution for such scalable synchronization. Specifically, we designed low-power oscillating modules with attached mechanical elements that exchange electronic pulses to advance their neighbor’s phase until the entire system is synchronized with the fastest oscillator or “leader.” We showed that this strategy is amenable to different oscillator connection topologies. The cooperative behaviors were robust to disturbances that scrambled the synchronization. In addition, when connections between oscillators were severed, the resulting subgroups synchronized on their own. This advance opens the door to functionalities in microscopic robot swarms that were once considered out of reach, ranging from autonomously induced fluidic transport to drive chemical reactions to cooperative building of physical structures at the microscale.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adn8067","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142741537","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

Reconfigurable nanomaterials folded from multicomponent chains of DNA origami voxels 由 DNA 折纸体块的多组分链折叠而成的可重构纳米材料。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-27 DOI: 10.1126/scirobotics.adp2309

Minh Tri Luu, Jonathan F. Berengut, Jiahe Li, Jing-Bing Chen, Jasleen Kaur Daljit Singh, Kanako Coffi Dit Glieze, Matthew Turner, Karuna Skipper, Sreelakshmi Meppat, Hannah Fowler, William Close, Jonathan P. K. Doye, Ali Abbas, Shelley F. J. Wickham

{"title":"Reconfigurable nanomaterials folded from multicomponent chains of DNA origami voxels","authors":"Minh Tri Luu, Jonathan F. Berengut, Jiahe Li, Jing-Bing Chen, Jasleen Kaur Daljit Singh, Kanako Coffi Dit Glieze, Matthew Turner, Karuna Skipper, Sreelakshmi Meppat, Hannah Fowler, William Close, Jonathan P. K. Doye, Ali Abbas, Shelley F. J. Wickham","doi":"10.1126/scirobotics.adp2309","DOIUrl":"10.1126/scirobotics.adp2309","url":null,"abstract":"<div >In cells, proteins rapidly self-assemble into sophisticated nanomachines. Bioinspired self-assembly approaches, such as DNA origami, have been used to achieve complex three-dimensional (3D) nanostructures and devices. However, current synthetic systems are limited by low yields in hierarchical assembly and challenges in rapid and efficient reconfiguration between diverse structures. Here, we developed a modular system of DNA origami “voxels” with programmable 3D connections. We demonstrate multifunctional pools of up to 12 unique voxels that can assemble into many shapes, prototyping 50 structures. Programmable switching of local connections between flexible and rigid states achieved rapid and reversible reconfiguration of global structures in three dimensions. Multistep assembly pathways were then explored to increase the yield. Voxels were assembled via flexible chain intermediates into rigid structures, increasing yield up to 100-fold. We envision that foldable chains of DNA origami voxels can achieve increased complexity in reconfigurable nanomaterials, providing modular components for the assembly of nanorobotic systems with future applications in synthetic biology, assembly of inorganic materials, and nanomedicine.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142741538","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

The force has limits: Molecular motors in robotics 力有极限机器人中的分子马达

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-27 DOI: 10.1126/scirobotics.adl0842

Henry Hess, Parag Katira, Juan B. Rodriguez III

引用次数: 0

Bioinspired designer DNA NanoGripper for virus sensing and potential inhibition 用于感知和抑制病毒的生物启发设计 DNA 纳米抓手。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-27 DOI: 10.1126/scirobotics.adi2084

Lifeng Zhou, Yanyu Xiong, Abhisek Dwivedy, Mengxi Zheng, Laura Cooper, Skye Shepherd, Tingjie Song, Wei Hong, Linh T. P. Le, Xin Chen, Saurabh Umrao, Lijun Rong, Tong Wang, Brian T. Cunningham, Xing Wang

{"title":"Bioinspired designer DNA NanoGripper for virus sensing and potential inhibition","authors":"Lifeng Zhou, Yanyu Xiong, Abhisek Dwivedy, Mengxi Zheng, Laura Cooper, Skye Shepherd, Tingjie Song, Wei Hong, Linh T. P. Le, Xin Chen, Saurabh Umrao, Lijun Rong, Tong Wang, Brian T. Cunningham, Xing Wang","doi":"10.1126/scirobotics.adi2084","DOIUrl":"10.1126/scirobotics.adi2084","url":null,"abstract":"<div >DNA has shown great biocompatibility, programmable mechanical properties, and precise structural addressability at the nanometer scale, rendering it a material for constructing versatile nanorobots for biomedical applications. Here, we present the design principle, synthesis, and characterization of a DNA nanorobotic hand, called DNA NanoGripper, that contains a palm and four bendable fingers as inspired by naturally evolved human hands, bird claws, and bacteriophages. Each NanoGripper finger consists of three phalanges connected by three rotatable joints that are bendable in response to the binding of other entities. NanoGripper functions are enabled and driven by the interactions between moieties attached to the fingers and their binding partners. We demonstrate that the NanoGripper can be engineered to effectively interact with and capture nanometer-scale objects, including gold nanoparticles, gold NanoUrchins, and SARS-CoV-2 virions. With multiple DNA aptamer nanoswitches programmed to generate a fluorescent signal that is enhanced on a photonic crystal platform, the NanoGripper functions as a highly sensitive biosensor that selectively detects intact SARS-CoV-2 virions in human saliva with a limit of detection of ~100 copies per milliliter, providing a sensitivity equal to that of reverse transcription quantitative polymerase chain reaction (RT-qPCR). Quantified by flow cytometry assays, we demonstrated that the NanoGripper-aptamer complex can effectively block viral entry into the host cells, suggesting its potential for inhibiting virus infections. The design, synthesis, and characterization of a sophisticated nanomachine that can be tailored for specific applications highlight a promising pathway toward feasible and efficient solutions to the detection and potential inhibition of virus infections.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142741536","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

Cybernetic avatars: Teleoperation technologies from in-body monitoring to social interaction 控制论化身：从体内监测到社交互动的远程操作技术。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-20 DOI: 10.1126/scirobotics.adg1842

Norihiro Hagita, Ryota Kanai, Hiroshi Ishiguro, Kouta Minamizawa, Fumihito Arai, Fumio Shimpo, Takeshi Matsumura, Yoko Yamanishi

引用次数: 0

A twist of the tail in turning maneuvers of bird-inspired drones 受鸟类启发的无人机在转弯时尾巴一扭

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-20 DOI: 10.1126/scirobotics.ado3890

Hoang-Vu Phan, Dario Floreano

{"title":"A twist of the tail in turning maneuvers of bird-inspired drones","authors":"Hoang-Vu Phan, Dario Floreano","doi":"10.1126/scirobotics.ado3890","DOIUrl":"10.1126/scirobotics.ado3890","url":null,"abstract":"<div >A banked turn is a common flight maneuver observed in birds and aircraft. To initiate the turn, whereas traditional aircraft rely on the wing ailerons, most birds use a variety of asymmetric wing-morphing control techniques to roll their bodies and thus redirect the lift vector to the direction of the turn. Nevertheless, when searching for prey, soaring raptors execute steady banked turns without exhibiting observable wing movements apart from the tail twisting around the body axis. Although tail twisting can compensate for adverse yaw, functioning similarly to the vertical tail in aircraft, how raptors use only tail twisting to perform banked turns is still not well understood. Here, we developed and used a raptor-inspired feathered drone to find that the proximity of the tail to the wings causes asymmetric wing-induced flows over the twisted tail and thus lift asymmetry, resulting in both roll and yaw moments sufficient to coordinate banked turns. Moreover, twisting the tail induces a nose-up pitch moment that increases the angle of attack of the wings, thereby generating more lift to compensate for losses caused by the banking motion. Flight experiments confirm the effectiveness of tail twist to control not only low-speed steady banked turns but also high-speed sharp turns by means of coordinated tail twist and pitch with asymmetric wing shape morphing. These findings contribute to the understanding of avian flight behaviors that are difficult to study in controlled laboratory settings and provide effective control strategies for agile drones with morphing aerial surfaces.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142678442","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