Science RoboticsPub Date : 2024-05-15DOI: 10.1126/scirobotics.adp8107
Robin R. Murphy
{"title":"What to give your robot mother on Mother’s Day","authors":"Robin R. Murphy","doi":"10.1126/scirobotics.adp8107","DOIUrl":"10.1126/scirobotics.adp8107","url":null,"abstract":"<div ><i>Jung_E</i>, the 2023 science-fiction movie from South Korea, suggests that a novel leg-wheel hybrid for robot locomotion might be appreciated.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140946773","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}
Science RoboticsPub Date : 2024-04-24DOI: 10.1126/scirobotics.adp3677
Robin R. Murphy
{"title":"Robot pack mules remain science fiction for now","authors":"Robin R. Murphy","doi":"10.1126/scirobotics.adp3677","DOIUrl":"https://doi.org/10.1126/scirobotics.adp3677","url":null,"abstract":"The plot of the 2014 science-fiction movie Young Ones revolves around a robot pack mule based on the real-world BigDog. The plot of the 2014 science fiction movie Young Ones revolves around a robot pack mule based on the real-world BigDog.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140661238","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}
Science RoboticsPub Date : 2024-04-24DOI: 10.1126/scirobotics.adp3679
Amos Matsiko
{"title":"Legged robots take a leap forward.","authors":"Amos Matsiko","doi":"10.1126/scirobotics.adp3679","DOIUrl":"https://doi.org/10.1126/scirobotics.adp3679","url":null,"abstract":"Legged robots take a leap forward.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140663842","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}
Science RoboticsPub Date : 2024-04-24DOI: 10.1126/scirobotics.adi9641
Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter
{"title":"Learning robust autonomous navigation and locomotion for wheeled-legged robots","authors":"Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter","doi":"10.1126/scirobotics.adi9641","DOIUrl":"https://doi.org/10.1126/scirobotics.adi9641","url":null,"abstract":"Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots, necessitating innovative solutions for locomotion and navigation. These challenges include the need for adaptive locomotion across varied terrains and the ability to navigate efficiently around complex dynamic obstacles. This work introduces a fully integrated system comprising adaptive locomotion control, mobility-aware local navigation planning, and large-scale path planning within the city. Using model-free reinforcement learning (RL) techniques and privileged learning, we developed a versatile locomotion controller. This controller achieves efficient and robust locomotion over various rough terrains, facilitated by smooth transitions between walking and driving modes. It is tightly integrated with a learned navigation controller through a hierarchical RL framework, enabling effective navigation through challenging terrain and various obstacles at high speed. Our controllers are integrated into a large-scale urban navigation system and validated by autonomous, kilometer-scale navigation missions conducted in Zurich, Switzerland, and Seville, Spain. These missions demonstrate the system’s robustness and adaptability, underscoring the importance of integrated control systems in achieving seamless navigation in complex environments. Our findings support the feasibility of wheeled-legged robots and hierarchical RL for autonomous navigation, with implications for last-mile delivery and beyond.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140642540","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}
Science RoboticsPub Date : 2024-04-24DOI: 10.1126/scirobotics.adi9754
Samuel A. Burden, Thomas Libby, Kaushik Jayaram, Simon Sponberg, J. Maxwell Donelan
{"title":"Why animals can outrun robots","authors":"Samuel A. Burden, Thomas Libby, Kaushik Jayaram, Simon Sponberg, J. Maxwell Donelan","doi":"10.1126/scirobotics.adi9754","DOIUrl":"https://doi.org/10.1126/scirobotics.adi9754","url":null,"abstract":"Animals are much better at running than robots. The difference in performance arises in the important dimensions of agility, range, and robustness. To understand the underlying causes for this performance gap, we compare natural and artificial technologies in the five subsystems critical for running: power, frame, actuation, sensing, and control. With few exceptions, engineering technologies meet or exceed the performance of their biological counterparts. We conclude that biology’s advantage over engineering arises from better integration of subsystems, and we identify four fundamental obstacles that roboticists must overcome. Toward this goal, we highlight promising research directions that have outsized potential to help future running robots achieve animal-level performance.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140642703","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}
Science RoboticsPub Date : 2024-04-24DOI: 10.1126/scirobotics.adp8528
Amos Matsiko
{"title":"Grasping objects with the aid of haptics","authors":"Amos Matsiko","doi":"10.1126/scirobotics.adp8528","DOIUrl":"10.1126/scirobotics.adp8528","url":null,"abstract":"<div >A smart suction cup uses haptics to supplement vision for exploration of objects in a grasping task.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140642097","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}
Science RoboticsPub Date : 2024-04-24DOI: 10.1126/scirobotics.adp1956
Krzysztof Walas
{"title":"Legged robots beyond bioinspiration","authors":"Krzysztof Walas","doi":"10.1126/scirobotics.adp1956","DOIUrl":"https://doi.org/10.1126/scirobotics.adp1956","url":null,"abstract":"Advances in engineering enable wheeled-legged hybrid locomotion, an achievement not feasible in biological systems. Advances in engineering enable wheeled-legged hybrid locomotion, an achievement not feasible in biological systems.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140658951","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}
Science RoboticsPub Date : 2024-04-17DOI: 10.1126/scirobotics.adi9762
Tony G. Chen, Stephanie Newdick, Julia Di, Carlo Bosio, Nitin Ongole, Mathieu Lapôtre, Marco Pavone, Mark R. Cutkosky
{"title":"Locomotion as manipulation with ReachBot","authors":"Tony G. Chen, Stephanie Newdick, Julia Di, Carlo Bosio, Nitin Ongole, Mathieu Lapôtre, Marco Pavone, Mark R. Cutkosky","doi":"10.1126/scirobotics.adi9762","DOIUrl":"https://doi.org/10.1126/scirobotics.adi9762","url":null,"abstract":"Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines and provide ReachBot with a large workspace, allowing it to achieve force closure in enclosed spaces, such as the walls of a lava tube. To propel ReachBot, we present a contact-before-motion planner for nongaited legged locomotion that uses internal force control, similar to a multifingered hand, to keep its long, slender booms in tension. Motion planning also depends on finding and executing secure grips on rock features. We used a Monte Carlo simulation to inform gripper design and predict grasp strength and variability. In addition, we used a two-step perception system to identify possible grasp locations. To validate our approach and mechanisms under realistic conditions, we deployed a single ReachBot arm and gripper in a lava tube in the Mojave Desert. The field test confirmed that ReachBot will find many targets for secure grasps with the proposed kinematic design.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140607740","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":"Real-world humanoid locomotion with reinforcement learning","authors":"Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, Koushil Sreenath","doi":"10.1126/scirobotics.adi9579","DOIUrl":"https://doi.org/10.1126/scirobotics.adi9579","url":null,"abstract":"Humanoid robots that can autonomously operate in diverse environments have the potential to help address labor shortages in factories, assist elderly at home, and colonize new planets. Although classical controllers for humanoid robots have shown impressive results in a number of settings, they are challenging to generalize and adapt to new environments. Here, we present a fully learning-based approach for real-world humanoid locomotion. Our controller is a causal transformer that takes the history of proprioceptive observations and actions as input and predicts the next action. We hypothesized that the observation-action history contains useful information about the world that a powerful transformer model can use to adapt its behavior in context, without updating its weights. We trained our model with large-scale model-free reinforcement learning on an ensemble of randomized environments in simulation and deployed it to the real-world zero-shot. Our controller could walk over various outdoor terrains, was robust to external disturbances, and could adapt in context.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140607696","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}
Science RoboticsPub Date : 2024-04-17DOI: 10.1126/scirobotics.adp7392
Melisa Yashinski
{"title":"Using machine learning and robotics to discover plastic substitutes","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.adp7392","DOIUrl":"10.1126/scirobotics.adp7392","url":null,"abstract":"<div >Discovery of all-natural thin films with tunable properties was partially automated using robotics and machine learning.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140606604","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}
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