Science Robotics最新文献_第4页

Erratum for the Research Article “Field deployment of Wolbachia-infected Aedes aegypti using uncrewed aerial vehicle” by Y.-H. Lin et al. 对 Y.-H. Lin 等人撰写的研究文章 "利用无人驾驶飞行器在野外部署感染了沃尔巴奇病毒的埃及伊蚊 "的更正Lin et al.

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-28 DOI: 10.1126/scirobotics.ads4716

引用次数: 0

Collection of microrobots for gentle cell manipulation 收集用于温和细胞操作的微型机器人。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-28 DOI: 10.1126/scirobotics.ads6194

Melisa Yashinski

引用次数: 0

Online tree-based planning for active spacecraft fault estimation and collision avoidance 基于树状结构的在线规划，用于主动式航天器故障估计和避免碰撞。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-28 DOI: 10.1126/scirobotics.adn4722

James Ragan, Benjamin Riviere, Fred Y. Hadaegh, Soon-Jo Chung

{"title":"Online tree-based planning for active spacecraft fault estimation and collision avoidance","authors":"James Ragan, Benjamin Riviere, Fred Y. Hadaegh, Soon-Jo Chung","doi":"10.1126/scirobotics.adn4722","DOIUrl":"10.1126/scirobotics.adn4722","url":null,"abstract":"<div >Autonomous robots operating in uncertain or hazardous environments subject to state safety constraints must be able to identify and isolate faulty components in a time-optimal manner. When the underlying fault is ambiguous and intertwined with the robot’s state estimation, motion plans that discriminate between simultaneous actuator and sensor faults are necessary. However, the coupled fault mode and physical state uncertainty creates a constrained optimization problem that is challenging to solve with existing methods. We combined belief-space tree search, marginalized filtering, and concentration inequalities in our method, safe fault estimation via active sensing tree search (s-FEAST), a planner that actively diagnoses system faults by selecting actions that give the most informative observations while simultaneously enforcing probabilistic state constraints. We justify this approach with theoretical analysis showing s-FEAST’s convergence to optimal policies. Using our robotic spacecraft simulator, we experimentally validated s-FEAST by safely and successfully performing fault estimation while on a collision course with a model comet. These results were further validated through extensive numerical simulations demonstrating s-FEAST’s performance.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142086439","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

Real-world exoskeletons are better than those in the movie Atlas 现实世界中的外骨骼比电影《阿特拉斯》中的更好。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-28 DOI: 10.1126/scirobotics.adr9557

Robin R. Murphy

引用次数: 0

Intrinsic sense of touch for intuitive physical human-robot interaction 直观物理人机交互的内在触觉。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-21 DOI: 10.1126/scirobotics.adn4008

Maged Iskandar, Alin Albu-Schäffer, Alexander Dietrich

{"title":"Intrinsic sense of touch for intuitive physical human-robot interaction","authors":"Maged Iskandar, Alin Albu-Schäffer, Alexander Dietrich","doi":"10.1126/scirobotics.adn4008","DOIUrl":"10.1126/scirobotics.adn4008","url":null,"abstract":"<div >The sense of touch is a property that allows humans to interact delicately with their physical environment. This article reports on a technological advancement in intuitive human-robot interaction that enables an intrinsic robotic sense of touch without the use of artificial skin or tactile instrumentation. On the basis of high-resolution joint-force-torque sensing in a redundant arrangement, we were able to let the robot sensitively feel the surrounding environment and accurately localize touch trajectories in space and time that were applied on its surface by a human. Through an intertwined combination of manifold learning techniques and artificial neural networks, the robot identified and interpreted those touch trajectories as machine-readable letters, symbols, or numbers. This opens up unexplored opportunities in terms of intuitive and flexible interaction between human and robot. Furthermore, we showed that our concept of so-called virtual buttons can be used to straightforwardly implement a tactile communication link, including switches and slider bars, which are complementary to speech, hardware buttons, and control panels. These interaction elements could be freely placed, moved, and configured in arbitrary locations on the robot structure. The intrinsic sense of touch we proposed in this work can serve as the basis for an advanced category of physical human-robot interaction that has not been possible yet, enabling a shift from conventional modalities toward adaptability, flexibility, and intuitive handling.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142019751","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

Bilingual speech neuroprosthesis 双语语音神经假体

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-21 DOI: 10.1126/scirobotics.ads4122

Amos Matsiko

引用次数: 0

Bistable soft jumper capable of fast response and high takeoff velocity 双稳态软跳线能够快速响应和高速起飞。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-21 DOI: 10.1126/scirobotics.adm8484

Daofan Tang, Chengqian Zhang, Chengfeng Pan, Hao Hu, Haonan Sun, Huangzhe Dai, Jianzhong Fu, Carmel Majidi, Peng Zhao

{"title":"Bistable soft jumper capable of fast response and high takeoff velocity","authors":"Daofan Tang, Chengqian Zhang, Chengfeng Pan, Hao Hu, Haonan Sun, Huangzhe Dai, Jianzhong Fu, Carmel Majidi, Peng Zhao","doi":"10.1126/scirobotics.adm8484","DOIUrl":"10.1126/scirobotics.adm8484","url":null,"abstract":"<div >In contrast with jumping robots made from rigid materials, soft jumpers composed of compliant and elastically deformable materials exhibit superior impact resistance and mechanically robust functionality. However, recent efforts to create stimuli-responsive jumpers from soft materials were limited in their response speed, takeoff velocity, and travel distance. Here, we report a magnetic-driven, ultrafast bistable soft jumper that exhibits good jumping capability (jumping more than 108 body heights with a takeoff velocity of more than 2 meters per second) and fast response time (less than 15 milliseconds) compared with previous soft jumping robots. The snap-through transitions between bistable states form a repeatable loop that harnesses the ultrafast release of stored elastic energy. On the basis of the dynamic analysis, the multimodal locomotion of the bistable soft jumper can be realized: the interwell mode of jumping and the intrawell mode of hopping. These modes are controlled by adjusting the duration and strength of the magnetic field, which endows the bistable soft jumper with robust locomotion capabilities. In addition, it is capable of jumping omnidirectionally with tunable heights and distances. To demonstrate its capability in complex environments, a realistic pipeline with amphibious terrain was established. The jumper successfully finished a simulative task of cleansing water through a pipeline. The design principle and actuating mechanism of the bistable soft jumper can be further extended for other flexible systems.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142020124","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

High energy density picoliter-scale zinc-air microbatteries for colloidal robotics 用于胶体机器人技术的高能量密度皮升级锌空气微型电池。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-14 DOI: 10.1126/scirobotics.ade4642

Ge Zhang, Sungyun Yang, Jing Fan Yang, David Gonzalez-Medrano, Marc Z. Miskin, Volodymyr B. Koman, Yuwen Zeng, Sylvia Xin Li, Matthias Kuehne, Albert Tianxiang Liu, Allan M. Brooks, Mahesh Kumar, Michael S. Strano

{"title":"High energy density picoliter-scale zinc-air microbatteries for colloidal robotics","authors":"Ge Zhang, Sungyun Yang, Jing Fan Yang, David Gonzalez-Medrano, Marc Z. Miskin, Volodymyr B. Koman, Yuwen Zeng, Sylvia Xin Li, Matthias Kuehne, Albert Tianxiang Liu, Allan M. Brooks, Mahesh Kumar, Michael S. Strano","doi":"10.1126/scirobotics.ade4642","DOIUrl":"10.1126/scirobotics.ade4642","url":null,"abstract":"<div >The recent interest in microscopic autonomous systems, including microrobots, colloidal state machines, and smart dust, has created a need for microscale energy storage and harvesting. However, macroscopic materials for energy storage have noted incompatibilities with microfabrication techniques, creating substantial challenges to realizing microscale energy systems. Here, we photolithographically patterned a microscale zinc/platinum/SU-8 system to generate the highest energy density microbattery at the picoliter (10<sup>−12</sup> liter) scale. The device scavenges ambient or solution-dissolved oxygen for a zinc oxidation reaction, achieving an energy density ranging from 760 to 1070 watt-hours per liter at scales below 100 micrometers lateral and 2 micrometers thickness in size. The parallel nature of photolithography processes allows 10,000 devices per wafer to be released into solution as colloids with energy stored on board. Within a volume of only 2 picoliters each, these primary microbatteries can deliver open circuit voltages of 1.05 ± 0.12 volts, with total energies ranging from 5.5 ± 0.3 to 7.7 ± 1.0 microjoules and a maximum power near 2.7 nanowatts. We demonstrated that such systems can reliably power a micrometer-sized memristor circuit, providing access to nonvolatile memory. We also cycled power to drive the reversible bending of microscale bimorph actuators at 0.05 hertz for mechanical functions of colloidal robots. Additional capabilities, such as powering two distinct nanosensor types and a clock circuit, were also demonstrated. The high energy density, low volume, and simple configuration promise the mass fabrication and adoption of such picoliter zinc-air batteries for micrometer-scale, colloidal robotics with autonomous functions.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141984058","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

Variable-stiffness–morphing wheel inspired by the surface tension of a liquid droplet 受液滴表面张力启发的可变刚度变形轮。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-08-14 DOI: 10.1126/scirobotics.adl2067

Jae-Young Lee, Seongji Han, Munyu Kim, Yong-Sin Seo, Jongwoo Park, Dong Il Park, Chanhun Park, Hyunuk Seo, Joonho Lee, Hwi-Su Kim, Jeongae Bak, Hugo Rodrigue, Jin-Gyun Kim, Joono Cheong, Sung-Hyuk Song

{"title":"Variable-stiffness–morphing wheel inspired by the surface tension of a liquid droplet","authors":"Jae-Young Lee, Seongji Han, Munyu Kim, Yong-Sin Seo, Jongwoo Park, Dong Il Park, Chanhun Park, Hyunuk Seo, Joonho Lee, Hwi-Su Kim, Jeongae Bak, Hugo Rodrigue, Jin-Gyun Kim, Joono Cheong, Sung-Hyuk Song","doi":"10.1126/scirobotics.adl2067","DOIUrl":"10.1126/scirobotics.adl2067","url":null,"abstract":"<div >Wheels have been commonly used for locomotion in mobile robots and transportation systems because of their simple structure and energy efficiency. However, the performance of wheels in overcoming obstacles is limited compared with their advantages in driving on normal flat ground. Here, we present a variable-stiffness wheel inspired by the surface tension of a liquid droplet. In a liquid droplet, as the cohesive force of the outermost liquid molecules increases, the net force pulling the liquid molecules inward also increases. This leads to high surface tension, resulting in the liquid droplet reverting to a circular shape from its distorted shape induced by gravitational forces. Similarly, the shape and stiffness of a wheel were controlled by changing the traction force at the outermost smart chain block. As the tension of the wire spokes connected to each chain block increased, the wheel characteristics reflected those of a general circular-rigid wheel, which has an advantage in high-speed locomotion on normal flat ground. Conversely, the modulus of the wheel decreased as the tension of the wire spoke decreased, and the wheel was easily deformed according to the shape of obstacles. This makes the wheel suitable for overcoming obstacles without requiring complex control or sensing systems. On the basis of this mechanism, a wheel was applied to a two-wheeled wheelchair system weighing 120 kilograms, and the state transition between a circular high-modulus state and a deformable low-modulus state was realized in real time when the wheelchair was driven in an outdoor environment.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adl2067","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141984059","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

Would robots really bother with a bloody uprising? 机器人真的会费尽心思发动血腥起义吗？

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-07-31 DOI: 10.1126/scirobotics.adr2950

Robin R. Murphy

引用次数: 0