Science Robotics最新文献_第7页

Aerial additive manufacturing: Toward on-site building construction with aerial robots 空中增材制造：面向空中机器人现场建筑施工

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-23 DOI: 10.1126/scirobotics.ado6251

Yusuf Furkan Kaya, Lachlan Orr, Basaran Bahadir Kocer, Vijay Pawar, Robert Stuart-Smith, Mirko Kovač

引用次数: 0

Understanding humanoid robots could save your life 了解仿人机器人可以挽救您的生命

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-23 DOI: 10.1126/scirobotics.adw9925

Robin R. Murphy

引用次数: 0

Biohybrid robot contracts like the human iris 生物混合机器人像人的虹膜一样收缩

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-23 DOI: 10.1126/scirobotics.ady1403

Melisa Yashinski

引用次数: 0

Reversible kink instability drives ultrafast jumping in nematodes and soft robots 可逆扭结不稳定性驱动线虫和软机器人超快跳跃

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-23 DOI: 10.1126/scirobotics.adq3121

Sunny Kumar, Ishant Tiwari, Victor M. Ortega-Jimenez, Adler R. Dillman, Dongjing He, Yuhang Hu, Saad Bhamla

{"title":"Reversible kink instability drives ultrafast jumping in nematodes and soft robots","authors":"Sunny Kumar, Ishant Tiwari, Victor M. Ortega-Jimenez, Adler R. Dillman, Dongjing He, Yuhang Hu, Saad Bhamla","doi":"10.1126/scirobotics.adq3121","DOIUrl":"10.1126/scirobotics.adq3121","url":null,"abstract":"<div >Entomopathogenic nematodes (EPNs) exhibit a bending-elastic instability, or kink, before becoming airborne, a feature previously hypothesized but not substantiated to enhance jumping performance. Here, we provide the evidence that this kink is crucial for improving launch performance. We demonstrate that EPNs actively modulate their aspect ratio, forming a liquid-latched α-shaped loop over a slow timescale <span><math><mrow><mi>O</mi></mrow></math></span> (1 second), and then rapidly open it <span><math><mrow><mi>O</mi></mrow></math></span> (10 microseconds), achieving heights of 20 body lengths and generating power of ∼10<sup>4</sup> watts per kilogram. Using a bioinspired physical model [termed the soft jumping model (SoftJM)], we explored the mechanisms and implications of this kink. EPNs control their takeoff direction by adjusting their head position and center of mass, a mechanism verified through phase maps of jump directions in numerical simulations and SoftJM experiments. Our findings reveal that the reversible kink instability at the point of highest curvature on the ventral side enhances energy storage using the nematode’s limited muscular force. We investigated the effect of the aspect ratio on kink instability and jumping performance using SoftJM and quantified EPN cuticle stiffness with atomic force microscopy measurements, comparing these findings with those of <i>Caenorhabditis elegans</i>. This investigation led to a stiffness-modified SoftJM design with a carbon fiber backbone, achieving jumps of ∼25 body lengths. Our study reveals how harnessing kink instabilities, a typical failure mode, enables bidirectional jumping in soft robots on complex substrates like sand, offering an approach for designing limbless robots for controlled jumping, locomotion, and even planetary exploration.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 101","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143866081","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

Sticking the landing: Insect-inspired strategies for safely landing flapping-wing aerial microrobots 粘着着陆：受昆虫启发的扑翼空中微型机器人安全着陆策略

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-16 DOI: 10.1126/scirobotics.adq3059

Nak-seung P. Hyun, Christian M. Chan, Alyssa M. Hernandez, Robert J. Wood

{"title":"Sticking the landing: Insect-inspired strategies for safely landing flapping-wing aerial microrobots","authors":"Nak-seung P. Hyun, Christian M. Chan, Alyssa M. Hernandez, Robert J. Wood","doi":"10.1126/scirobotics.adq3059","DOIUrl":"10.1126/scirobotics.adq3059","url":null,"abstract":"<div >For flying insects, the transition from flight to surface locomotion requires effective touchdown maneuvers that allow stable landings on a variety of surfaces. Landing behaviors of insects are diverse, with some using more controlled flight approaches to landing, whereas others dampen collision impacts with parts of their bodies. The landing approaches of real insects inspired our current work, where we present a combined mechanical and control approach to achieving safe and accurate landings for flapping-wing microaerial vehicles. For the mechanical approach to landing, we took inspiration from the legs of the crane fly, designing lossy compliant legs that maximize energy dissipation during surface collisions. We explored three features in the compliant leg design: leg stance, number of joints, and joint placement. For the control approach to landing, the challenge lies in overcoming the aerodynamic ground effect near the surface. Leveraging the compliant leg design during impact, we designed the preimpact behavior, drawing inspiration from insect landing trajectories, to increase landing success. The proposed controlled landing sequence includes an initial acceleration from hovering, followed by deceleration toward the target, ending with a nonzero impact velocity, similar to what is observed in insects. Last, using an insect-scale flapping-wing aerial microrobot platform (Harvard RoboBee), we verified the controlled, safe, and accurate landing on natural terrain.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 101","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adq3059","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143841845","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

Unlocking aerobatic potential of quadcopters: Autonomous freestyle flight generation and execution 解锁四轴飞行器的特技飞行潜力：自主自由式飞行的产生和执行

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-16 DOI: 10.1126/scirobotics.adp9905

Mingyang Wang, Qianhao Wang, Ze Wang, Yuman Gao, Jingping Wang, Can Cui, Yuan Li, Ziming Ding, Kaiwei Wang, Chao Xu, Fei Gao

{"title":"Unlocking aerobatic potential of quadcopters: Autonomous freestyle flight generation and execution","authors":"Mingyang Wang, Qianhao Wang, Ze Wang, Yuman Gao, Jingping Wang, Can Cui, Yuan Li, Ziming Ding, Kaiwei Wang, Chao Xu, Fei Gao","doi":"10.1126/scirobotics.adp9905","DOIUrl":"10.1126/scirobotics.adp9905","url":null,"abstract":"<div >Quadcopter drones are capable of executing complex aerobatic maneuvers when controlled manually by skilled pilots but are limited to simple aerobatic actions when flying autonomously in open spaces. As such, this study introduces a comprehensive system that enables drones to generate and execute sophisticated aerobatic maneuvers in complex environments with dense obstacle distributions. A universal representation is proposed, succinctly capturing flight as a series of discrete aerobatic intentions. These intentions consist of topology and attitude changes, which can be combined in various ways to describe intricate flight maneuvers. A spatial-temporal joint optimization trajectory planner is also introduced to generate dynamically feasible trajectories that are as smooth as possible and devoid of collisions. In addition, we investigate unique yaw sensitivity issues in aerobatic flight and identify the inherent influence of differential flatness singularities on yaw rotations while avoiding associated dynamics issues. A series of ablation studies confirmed the necessity of these spatial-temporal joint optimization and yaw compensation strategies. Additional simulations and physical experiments validated the stability and feasibility of our proposed system for improving uncrewed aerial flight. The proposed system enables drones to autonomously achieve flight performance usually reserved for professional pilots, unlocking boundless potential for aerobatic flight evolution in uncrewed aerial vehicles.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 101","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143841846","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

Robotics in Africa is trending upward and has a bright future 非洲的机器人技术正呈上升趋势，前景光明

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-04-16 DOI: 10.1126/scirobotics.adx2410

David Vernon

引用次数: 0

Magnetically actuated dexterous tools for minimally invasive operation inside the brain 用于脑内微创手术的磁驱动灵巧工具

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-03-26 DOI: 10.1126/scirobotics.adk4249

Changyan He, Robert Nguyen, Haley Mayer, Lingbo Cheng, Paul Kang, D. Anastasia Aubeeluck, Grace Thiong’ᴏ, Erik Fredin, James Drake, Thomas Looi, Eric Diller

{"title":"Magnetically actuated dexterous tools for minimally invasive operation inside the brain","authors":"Changyan He, Robert Nguyen, Haley Mayer, Lingbo Cheng, Paul Kang, D. Anastasia Aubeeluck, Grace Thiong’ᴏ, Erik Fredin, James Drake, Thomas Looi, Eric Diller","doi":"10.1126/scirobotics.adk4249","DOIUrl":"10.1126/scirobotics.adk4249","url":null,"abstract":"<div >Operating in the brain for deep-seated tumors or surgical targets for epilepsy is technically demanding and normally requires a large craniotomy with its attendant risk and morbidity. Neuroendoscopic surgery has the potential to reduce risk and morbidity by permitting surgical access through a small incision with burr hole and a narrow corridor through the brain. However, current endoscopic neurosurgical tools are straight and rigid and lack dexterity, hindering their adoption for neuroendoscopic procedures. We propose a class of robotic neurosurgical tools that have magnetically actuated wristed end effectors small enough to fit through a neuroendoscope working channel. The tools were less than 3.2 millimeters in overall diameter and contained embedded permanent magnets that allowed wireless actuation with magnetic fields. Three magnetic tools are presented: a two–degrees-of-freedom (DoFs) wristed gripper, a one-DoF pivoting scalpel, and a one-DoF twisted string–actuated forceps. This work evaluated the feasibility of these tools for completing minimally invasive neurosurgical resection and cutting tasks. Experimental tests on a silicone brain phantom showed that the tools could reach the ventricle area for simulated tumor removal and access a section of the corpus callosotomy for a simulated tissue-severing procedure in epilepsy treatment. Integration of the magnetic end effectors with a concentric tube robot as a hybrid steerable surgical robotic system enabled in vivo experiments on piglets. These experiments show that wireless magnetic tools could perform essential neurosurgical tasks, including gripping, cutting, and biopsy on living brain tissue, suggesting their potential for clinical applications.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 100","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143703304","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

Erratum for the Research Article “Safety-assured high-speed navigation for MAVs” by Y. Ren et al. 对Ren Y.等人的研究文章“安全保证的mav高速导航”的勘误。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-03-26 DOI: 10.1126/scirobotics.adx3476

引用次数: 0

Harnessing emotion and intonation in speech to improve robot acceptance 利用语音中的情感和语调来提高机器人的接受度

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2025-03-26 DOI: 10.1126/scirobotics.adx2364

Amos Matsiko

引用次数: 0