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Neurosymbolic Motion and Task Planning for Linear Temporal Logic Tasks IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Xiaowu Sun, Yasser Shoukry
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Soft Printable Robots with Flexible Metal Endoskeleton IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Chao-Yu Chen, Benjamin W.K.Ang, Yangfan Li, Jun Liu, Zhuangjian Liu, Chen-Hua Yeow
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Autonomous Vehicle Localization Without Prior High-Definition Map IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Sangmin Lee, Jee-Hwan Ryu
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Online Multi-Contact Receding Horizon Planning via Value Function Approximation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
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Heterogeneous Targets Trapping With Swarm Robots by Using Adaptive Density-Based Interaction IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Shuai Zhang, Xiaokang Lei, Xingguang Peng, Jia Pan
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Complete and Near-Optimal Robotic Crack Coverage and Filling in Civil Infrastructure IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Vishnu Veeraraghavan, Kyle Hunte, Jingang Yi, Kaiyan Yu
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On the Generality and Application of Mason's Voting Theorem to Center of Mass Estimation for Pure Translational Motion IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Ziyan Gao, Armagan Elibol, Nak Young Chong
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PH-Gauss-Lobatto Reduced-Order-Model for shape control of Soft-Continuum Manipulators IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-19 Steeve Mbakop, Gilles Tagne, Tanguy Chevillon, Sergey V. Drakunov, Rochdi Merzouki
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Provably Feasible Semi-Infinite Program Under Collision Constraints via Subdivision IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-19 Duo Zhang, Chen Liang, Xifeng Gao, Kui Wu, Zherong Pan
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PRIMP: PRobabilistically-Informed Motion Primitives for Efficient Affordance Learning from Demonstration IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-16 Sipu Ruan, Weixiao Liu, Xiaoli Wang, Xin Meng, Gregory S. Chirikjian
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Development and Characteristics of a Highly Biomimetic Robotic Shoulder Inspired by Musculoskeletal Mechanical Intelligence IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-16 Haosen Yang, Guowu Wei, Lei Ren
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Tube acceleration: robust dexterous throwing against release uncertainty IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-10 Yang Liu, Aude Billard
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Safe Multi-agent Motion Planning under Uncertainty for Drones using Filtered Reinforcement Learning IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-10 Sleiman Safaoui, Abraham P. Vinod, Ankush Chakrabarty, Rien Quirynen, Nobuyuki Yoshikawa, Stefano Di Cairano
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Enhancing the Performance of a Biomimetic Robotic Elbow-and-Forearm System Through Bionics-Inspired Optimization IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-09 Haosen Yang, Guowu Wei, Lei Ren
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Biomimetic Morphing Quadrotor Inspired by Eagle Claw for Dynamic Grasping IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-09 Mengxin Xu, Qixin De, Dafang Yu, An Hu, Zhe Liu, Hesheng Wang
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CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-08 Timothy Chen, Preston Culbertson, Mac Schwager
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Cosserat-Rod Based Dynamic Modeling of Soft Slender Robot Interacting with Environment IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-08 Lingxiao Xun, Gang Zheng, Alexandre Kruszewski
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Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-08 Chenghao Shi, Xieyuanli Chen, Junhao Xiao, Bin Dai, Huimin Lu
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Beyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-08 Yu-Ming Chen, Jianshu Hu, Michael Posa
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GJK++: Leveraging Acceleration Methods for Faster Collision Detection IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-08 Louis Montaut, Quentin Le Lidec, Vladimir Petrik, Josef Sivic, Justin Carpentier
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RL-Based Adaptive Controller for High Precision Reaching in a Soft Robot Arm IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-26 Muhammad Sunny Nazeer, Cecilia Laschi, Egidio Falotico
High precision control of soft robots is challenging due to their stohcastic behavior and material-dependent nature. While RL has been applied in soft robotics, achieving precision in task execution is still a long way off. Traditionally, RL requires substantial data for convergence, often obtained from a training environment. Yet, despite exhibiting high accuracy in the training environment, RL-policies
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Impact-Aware Planning and Control for Aerial Robots With Suspended Payloads IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-25 Haokun Wang, Haojia Li, Boyu Zhou, Fei Gao, Shaojie Shen
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Adaptive-Force-Based Control of Dynamic Legged Locomotion Over Uneven Terrain IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-25 Mohsen Sombolestan, Quan Nguyen
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications commonly require the capability of carrying heavy loads while maintaining dynamic motion. Therefore, this article presents a novel methodology for incorporating adaptive control into a force-based
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Design, Control and Validation of a Novel CableDriven Series Elastic Actuation System for a Flexible and Portable Back-Support Exoskeleton IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-25 Hongpeng Liao, Hugo Hung-tin Chan, Gaoyu Liu, Xuan Zhao, Fei Gao, Masayoshi Tomizuka, Wei-Hsin Liao
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Impact-Aware Bimanual Catching of Large-Momentum Objects IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-25 Lei Yan, Theodoros Stouraitis, João Moura, Wenfu Xu, Michael Gienger, Sethu Vijayakumar
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IEEE Transactions on Robotics Publication Information IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-22
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IEEE Transactions on Robotics Information for Authors IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-22
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Fiber-Optic Force Sensing of Modular Robotic Skin for Remote and Autonomous Robot Control IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-19 Sudong Lee, Jae In Kim, Youngjoon Baek, Dongjune Chang, Jeongseob Lee, Young Soo Park, Dongjun Lee, Yong-Lae Park
Robots have taken the place of human operators in hazardous and challenging jobs requiring high dexterity in manipulation, and robots with skin for force and tactile sensing that mimics the function of mechanoreception in animals will be highly dexterous in performing complex tasks. In this study, we propose the design of modular robotic skin, capable of detecting the magnitude and the location of
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On-Manifold Strategies for Reactive Dynamical System Modulation With Nonconvex Obstacles IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-18 Christopher K. Fourie, Nadia Figueroa, Julie A. Shah
In this work, we present a novel, reactive, modulated control strategy based on dynamical systems (DS) for planning in the context of multiple nonconvex obstacles. Our DS modulation strategy leverages an on-manifold planning methodology and provides several methods for real-time on-manifold navigation around nonconvex obstacles. We introduce a sample-based obstacle representation for complex, nonconvex
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Low-Cost and Easy-to-Build Soft Robotic Skin for Safe and Contact-Rich Human–Robot Collaboration IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-18 Kyungseo Park, Kazuki Shin, Sankalp Yamsani, Kevin Gim, Joohyung Kim
Although many soft robotic skins have been introduced, their use has been hindered due to practical limitations, such as difficulties in manufacturing, poor accessibility, and cost inefficiency. To solve this, we present a low-cost, easy-to-build soft robotic skin utilizing air-pressure sensors and 3D-printed pads. In our approach, we utilized digital fabrication and robot operating system (ROS) to
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CMax-SLAM: Event-Based Rotational-Motion Bundle Adjustment and SLAM System Using Contrast Maximization IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-18 Shuang Guo, Guillermo Gallego
Event cameras are bioinspired visual sensors that capture pixelwise intensity changes and output asynchronous event streams. They show great potential over conventional cameras to handle challenging scenarios in robotics and computer vision, such as high speed and high dynamic range. This article considers the problem of rotational motion estimation using event cameras. Several event-based rotation
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Design and Hierarchical Control of a Homocentric Variable-Stiffness Magnetic Catheter for Multiarm Robotic Ultrasound-Assisted Coronary Intervention IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-18 Zhengyang Li, Junan Li, Zehao Wu, Yuanhe Chen, Magejiang Yeerbulati, Qingsong Xu
Autonomous magnetic catheterization has become a promising technology for next-generation minimally invasive cardiovascular surgery. In this article, a novel homocentric variable-stiffness magnetic robotic catheter (HVS-MRC) is presented. This device is controlled by a multiarm robot-assisted catheterization system for use in radiation-free coronary ultrasound intervention. The uniqueness of the HVS-MRC
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Goal-Conditioned Dual-Action Imitation Learning for Dexterous Dual-Arm Robot Manipulation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-03-04 Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi
Long-horizon dexterous robot manipulation of deformable objects, such as banana peeling, is a problematic task because of the difficulties in object modeling and a lack of knowledge about stable and dexterous manipulation skills. This article presents a goal-conditioned dual-action deep imitation learning (DIL) approach that can learn dexterous manipulation skills using human demonstration data. Previous
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Design of an Adaptive Lightweight LiDAR to Decouple Robot–Camera Geometry IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-29 Yuyang Chen, Dingkang Wang, Lenworth Thomas, Karthik Dantu, Sanjeev J. Koppal
A fundamental challenge in robot perception is the coupling of the sensor pose and robot pose. This has led to research in active vision where the robot pose is changed to reorient the sensor to areas of interest for perception. Furthermore, egomotion, such as jitter, and external effects, such as wind and others, affect perception requiring additional efforts in software such as image stabilization
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Soft-Tipped Sensor With Compliance Control for Elasticity Sensing and Palpation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-29 Duncan G. Raitt, Mahmud Huseynov, Shervanthi Homer-Vanniasinkam, Helge A. Wurdemann, Sara-Adela Abad
Stiffness sensing and palpation are essential for understanding object properties, including tissue health and fruit ripeness. Currently, there is limited research on using soft-tipped sensors for stiffness sensing and dynamic palpation. To address these challenges, we investigate how the pressure-modulated optical tracking (PMOT) sensor can use compliance control to quantify tissue stiffness and detect
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A Bioinspired Single Actuator-Driven Soft Robot Capable of Multistrategy Locomotion IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Rui Chen, Xinyu Zhu, Zean Yuan, Huayan Pu, Jun Luo, Yu Sun
Multidirectional jumping is commonly found in living creatures and desirable to be integrated into mobile robots for enhanced agility. Existing jumping robots mostly employ complex or cumbersome structures and modular designs to achieve multidirectional jumping. There is a lack of a simple, lightweight, and compact actuator design for multidirectional jumping robots. Here, we present a multidirectional
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Learning a Generalizable Trajectory Sampling Distribution for Model Predictive Control IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Thomas Power, Dmitry Berenson
We propose a sample-based model predictive control (MPC) method for collision-free navigation that uses a normalizing flow as a sampling distribution, conditioned on the start, goal, environment, and cost parameters. This representation allows us to learn a distribution that accounts for both the dynamics of the robot and complex obstacle geometries. We propose a way to incorporate this sampling distribution
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Input Decoupling of Lagrangian Systems via Coordinate Transformation: General Characterization and Its Application to Soft Robotics IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Pietro Pustina, Cosimo Della Santina, Frédéric Boyer, Alessandro De Luca, Federico Renda
Suitable representations of dynamical systems can simplify their analysis and control. On this line of thought, this article aims to answer the following question: Can a transformation of the generalized coordinates under which the actuators directly perform work on a subset of the configuration variables be found? We not only show that the answer to this question is yes but also provide necessary
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Multi-robot Relative Pose Estimation and IMU Preintegration Using Passive UWB Transceivers IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Mohammed Ayman Shalaby, Charles Champagne Cossette, Jerome Le Ny, James Richard Forbes
Ultra-wideband (UWB) systems are becoming increasingly popular as a means of inter-robot ranging and communication. A major constraint associated with UWB is that only one pair of UWB transceivers can range at a time to avoid interference, hence hindering the scalability of UWB-based localization. In this article, a ranging protocol is proposed that allows all robots to passively listen on neighboring
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Hierarchical Incremental MPC for Redundant Robots: A Robust and Singularity-Free Approach IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Yongchao Wang, Yang Liu, Marion Leibold, Martin Buss, Jinoh Lee
This article presents a model predictive control (MPC) method for redundant robots controlling multiple hierarchical tasks formulated as multilayer constrained optimal control problems (OCPs). The proposed method, named hierarchical incremental MPC (HIMPC), is robust to dynamic uncertainties, untethered from kinematic/algorithmic singularities, and capable of handling input and state constraints such
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On Second-Order Derivatives of Rigid-Body Dynamics: Theory and Implementation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Shubham Singh, Ryan P. Russell, Patrick M. Wensing
Model-based control for robots has increasingly depended on optimization-based methods, such as differential dynamic programming (DDP) and iterative LQR (iLQR). These methods can form the basis of model-predictive control, which is commonly used for controlling legged robots. Computing the partial derivatives of the robot dynamics is often the most expensive part of these algorithms, regardless of
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A Human–Robot Collaboration Controller Utilizing Confidence for Disagreement Adjustment IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Muyuan Ma, Long Cheng
With the development of collaborative robots, the demand for efficient and safe physical human–robot interaction (pHRI) is significantly increasing. In this article, a two-loop pHRI controller is proposed to reduce the disagreement in human–robot cooperation and to enhance the level of robot assistance. In the outer loop, a human motion intention estimator is designed, combining the strength of model-free
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Enabling Versatility and Dexterity of the Dual-Arm Manipulators: A General Framework Toward Universal Cooperative Manipulation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Yi Ren, Zhehua Zhou, Ziwei Xu, Yang Yang, Guangyao Zhai, Marion Leibold, Fenglei Ni, Zhengyou Zhang, Martin Buss, Yu Zheng
Grasping and manipulating various kinds of objects cooperatively is the core skill of a dual-arm robot when deployed as an autonomous agent in a human-centered environment. This requires fully exploiting the robot's versatility and dexterity. In this work, we propose a general framework for dual-arm manipulators that contains two correlative modules. The learning-based dexterity-reachability-aware
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Material Scrunching Enables Working Channels in Miniaturized Vine-Inspired Robots IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-27 Cédric Girerd, Anna Alvarez, Elliot W. Hawkes, Tania K. Morimoto
A new subclass of soft robot, known as tip-extending or “vine” robots, consists of long inflatable devices that move through the environment by extending from the tip. A key requirement for many applications of these robots is a working channel—a hollow tube through the core of the robot for passing tools, sensors, fluids, etc. While working channels have been proposed in a few vine robots, it remains
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Data-Driven Momentum Observers With Physically Consistent Gaussian Processes IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-20 Giulio Evangelisti, Sandra Hirche
This article proposes a data-driven modeling framework with physically consistent Gaussian processes (GPs), enabling learning-based disturbance estimation for uncertain mechanical systems with covariance-adaptive momentum observers (MOs). We present novel error bound results in closed form, holding with high, exactly computable probabilities, and exploit the multidimensional, physically constrained
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REFINE: Reachability-Based Trajectory Design Using Robust Feedback Linearization and Zonotopes IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-16 Jinsun Liu, Yifei Simon Shao, Lucas Lymburner, Hansen Qin, Vishrut Kaushik, Lena Trang, Ruiyang Wang, Vladimir Ivanovic, H. Eric Tseng, Ram Vasudevan
Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately predict ego vehicle behavior under a chosen controller use online numerical integration that requires a fine time discretization and thereby adversely affects real-time performance. To address this limitation, several recent
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PIPO-SLAM: Lightweight Visual-Inertial SLAM With Preintegration Merging Theory and Pose-Only Descriptions of Multiple View Geometry IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-16 Yangbing Ge, Lilian Zhang, Yuanxin Wu, Dewen Hu
Optimization-based visual-inertial simultaneous localization and mapping system (VI-SLAM) focuses on the establishment of the loss function using both inertial and visual constraints. Preintegration theory is commonly used to express inertial constraints, but it lacks the merging equation between keyframes, challenging VI-SLAM from culling and merging redundant keyframes. To address this, we establish
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An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-14 Boyang Ti, Yongsheng Gao, Jie Zhao, Sylvain Calinon
Humans use tools to complete impact-aware tasks, such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding a tool plays a crucial role. The underlying motion planning challenge consists of grabbing the tool in preparation for the use of this tool with an optimal body
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Do You Need a Hand? – A Bimanual Robotic Dressing Assistance Scheme IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-14 Jihong Zhu, Michael Gienger, Giovanni Franzese, Jens Kober
Developing physically assistive robots capable of dressing assistance has the potential to significantly improve the lives of the elderly and disabled population. However, most robotics dressing strategies considered a single robot only, which greatly limited the performance of the dressing assistance. In fact, healthcare professionals perform the task bimanually. Inspired by them, we propose a bimanual
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CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-12 Dimitrious Schreiber, Zhaowei Yu, Taylor Henderson, Derek Chen, Alexander Norbash, Michael C. Yip
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Selection of Secure Gravity-Based Caging Grasps of Planar Objects: Robustness and Experimental Validation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-12 Alon Shirizly, Elon D. Rimon
Gravity-based caging grasps are robotic grasps where the robot hand passively supports an object against gravity. When a robot hand supports an object at a local minimum of the object gravitational energy, the robot hand forms a basket like grasp of the object. Any object movement in a basket grasp requires an increase of the object gravitational energy, thus allowing secure object pickup and transport
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A Sliding Window Filter With GNSS-State Constraint for RTK-Visual-Inertial Navigation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-12 Xiaohong Huang, Cui Yang, Miaowen Wen
In this article, we present a novel method by using a sliding window filter (SWF) for real-time kinematic (RTK) visual-inertial navigation. Unlike other recent works that retain only the states of visual keyframes to reduce computational complexity, we additionally retain the GNSS states (i.e., position, orientation, and velocity of the body and inertial biases at the time of capturing GNSS measurements)
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Ringbot: Monocycle Robot With Legs IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-06 Kevin Genehyub Gim, Joohyung Kim
This article presents the development and evaluation of Ringbot, a novel leg-wheel transformer robot incorporating a monocycle mechanism with legs. Ringbot aims to provide versatile mobility by replacing the driver and driving components of a conventional monocycle vehicle with legs mounted on compact driving modules inside the wheel. The article covers the hardware and software implementation of a
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Multimodal Soft Amphibious Robots Using Simple Plastic-Sheet-Reinforced Thin Pneumatic Actuators IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-01 Jiaxi Wu, Mingxin Wu, Wenhui Chen, Chen Wang, Guangming Xie
A large challenge in the field of soft amphibious robotics is achieving high maneuverability and multiterrain adaptability through multimodal locomotion in hybrid terrestrial–aquatic environments. To address this issue, drawing inspiration from fruit-fly larvae and Spanish dancer sea slugs, a novel tethered soft amphibious robot with multimodal locomotion is proposed in this article, performing forward
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Latent Space Planning for Multiobject Manipulation With Environment-Aware Relational Classifiers IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-01 Yixuan Huang, Nichols Crawford Taylor, Adam Conkey, Weiyu Liu, Tucker Hermans
Objects rarely sit in isolation in everyday human environments. If we want robots to operate and perform tasks in our human environments, they must understand how the objects they manipulate will interact with structural elements of the environment for all but the simplest of tasks. As such, we would like our robots to reason about how multiple objects and environmental elements relate to one another
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Direct Visual Servoing Based on Discrete Orthogonal Moments IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-01 Yuhan Chen, Max Qing-Hu Meng, Li Liu
This article proposes a new approach to achieve direct visual servoing (DVS) based on discrete orthogonal moments (DOMs). DVS is performed in such a way that the extraction of geometric primitives, matching, and tracking steps in the conventional feature-based visual servoing pipeline can be bypassed. Although DVS enables highly precise positioning, it suffers from a limited convergence domain and
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Unified Shape and External Load State Estimation for Continuum Robots IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-02-01 James M. Ferguson, D. Caleb Rucker, Robert J. Webster
Continuum robots navigate narrow, winding passageways while safely and compliantly interacting with their environments. Sensing the robot's shape under these conditions is often done indirectly, using a few coarsely distributed (e.g., strain or position) sensors combined with the robot's mechanics-based model. More recently, given high-fidelity shape data, external interaction loads along the robot
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Task-Driven Hybrid Model Reduction for Dexterous Manipulation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-01-29 Wanxin Jin, Michael Posa
In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing and sequencing contact locations for in-hand manipulation, where there are thousands of potential hybrid modes, is not generally tractable. In this article, we are inspired by the observation that far fewer modes are actually
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MAVERIC: A Data-Driven Approach to Personalized Autonomous Driving IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-01-29 Mariah L. Schrum, Emily Sumner, Matthew C. Gombolay, Andrew Best
Personalization of autonomous vehicles (AVs) may significantly increase acceptance. In particular, we hypothesize that the similarity of an AV's driving style compared to a user's driving style, the level of aggressiveness of the driving style, and other subjective factors (e.g., personality) will have a major impact on user's willingness to use the AV. In this work, we 1) develop a data-driven approach
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Haptic Transparency and Interaction Force Control for a Lower Limb Exoskeleton IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-01-29 Emek Barış Küçüktabak, Yue Wen, Sangjoon J. Kim, Matthew R. Short, Daniel Ludvig, Levi Hargrove, Eric J. Perreault, Kevin M. Lynch, José L. Pons
Controlling the interaction forces between a human and an exoskeleton is crucial for providing transparency or adjusting assistance or resistance levels. However, it is an open problem to control the interaction forces of lower limb exoskeletons designed for unrestricted overground walking. For these types of exoskeletons, it is challenging to implement force/torque sensors at every contact between