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A Consistent Parallel Estimation Framework for Visual-Inertial SLAM IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-25 Zheng Huai, Guoquan Huang
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A New Expression for the Passivity Bound for a Class of Sampled-Data Systems IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-25 Rodney G. Roberts, Carl A. Moore, J. Edward Colgate
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Challenges for Monocular 6D Object Pose Estimation in Robotics IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-25 tefan Thalhammer, Dominik Bauer, Peter Hönig, Jean-Baptiste Weibel, José García-Rodríguez, Markus Vincze
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Efficient Deep Learning of Robust Policies from MPC using Imitation and Tube-Guided Data Augmentation IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-22 Andrea Tagliabue, Jonathan P. How
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EVORA: Deep Evidential Traversability Learning for Risk-Aware Off-Road Autonomy IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-22 Xiaoyi Cai, Siddharth Ancha, Lakshay Sharma, Philip R. Osteen, Bernadette Bucher, Stephen Phillips, Jiuguang Wang, Michael Everett, Nicholas Roy, Jonathan P. How
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Heterogeneous Policy Networks for Composite Robot Team Communication and Coordination IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-22 Esmaeil Seraj, Rohan Paleja, Luis Pimentel, Kin Man Lee, Zheyuan Wang, Daniel Martin, Matthew Sklar, John Zhang, Zahi Kakish, Matthew Gombolay
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A Shared Autonomy System for Precise and Efficient Remote Underwater Manipulation IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-22 Amy Phung, Gideon Billings, Andrea F. Daniele, Matthew R. Walter, Richard Camilli
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Reconciling RaiSim with the Maximum Dissipation Principle IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-18 Quentin Le Lidec, Justin Carpentier
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High-Speed Motion Planning for Aerial Swarms in Unknown and Cluttered Environments IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-16 Charbel Toumieh, Dario Floreano
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DiffTune: Auto-Tuning through Auto-Differentiation IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-16 Sheng Cheng, Minkyung Kim, Lin Song, Chengyu Yang, Yiquan Jin, Shenlong Wang, Naira Hovakimyan
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Regret-based Sampling of Pareto Fronts for Multi-Objective Robot Planning Problems IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-16 Alexander Botros, Nils Wilde, Armin Sadeghi, Javier Alonso-Mora, Stephen L. Smith
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Automated Microrobotic Manipulation using Reconfigurable Magnetic Microswarms IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-15 Jialin Jiang, Lidong Yang, Bo Hao, Tiantian Xu, Xinyu Wu, Li Zhang
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Precise Control of Soft Robots Amidst Uncertain Environmental contacts and Forces IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-15 Xinjia Huang, Zihao Yuan, Xinyu Yang, Guoying Gu
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Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-15 Niklas Funk, Erik Helmut, Georgia Chalvatzaki, Roberto Calandra, Jan Peters
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Constrained Stein Variational Trajectory Optimization IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-15 Thomas Power, Dmitry Berenson
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Directional Critical Load Index: a Distance-to-Instability Metric for Continuum Robots IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-15 Federico Zaccaria, Edoardo Idá, Sébastien Briot
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Port-Hamiltonian Neural ODE Networks on Lie Groups For Robot Dynamics Learning and Control IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-15 Thai Duong, Abdullah Altawaitan, Jason Stanley, Nikolay Atanasov
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Robotic Gas Source Localization With Probabilistic Mapping and Online Dispersion Simulation IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-10 Pepe Ojeda, Javier Monroy, Javier Gonzalez-Jimenez
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Measurement Simplification in $\rho$-POMDP with Performance Guarantees IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-05 Tom Yotam, Vadim Indelman
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A Tree-Based Next-Best-Trajectory Method for 3-D UAV Exploration IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-03 Björn Lindqvist, Akash Patel, Kalle Löfgren, George Nikolakopoulos
This work presents a fully integrated tree-based combined exploration-planning algorithm: exploration-rapidly-exploring random trees (RRT) (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured environment while directly incorporating exploratory behavior, robot-safe path planning, and robot actuation into the central problem. ERRT
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PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-02 Yue Pan, Xingguang Zhong, Louis Wiesmann, Thorbjörn Posewsky, Jens Behley, Cyrill Stachniss
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Impact Robustness vs. Torque Bandwidth: A Design Guide for Differential Elastic Actuators IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-02 Anton Shu, Clara Raschel, Manuel Keppler, Armin Wedler, Martin Görner
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Robust Pivoting Manipulation Using Contact Implicit Bilevel Optimization IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-02 Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interactions with uncertainty in physical properties of the object and the environment. In this article, we study robust optimization for planning of pivoting manipulation in the presence of
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Transferring Grasping Across Grippers: Learning–Optimization Hybrid Framework for Generalized Planar Grasp Generation IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-02 Xianli Wang, Qingsong Xu
As diverse robotic hands keep emerging for industrial and household use, designing general grasp synthesis algorithms applicable to multiple grippers remains challenging. To improve the generality and effectiveness of multigripper planar grasping algorithms, we propose a grasping framework featuring gripper-agnostic scene inference and gripper-changeable optimization. In our approach, we introduce
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Unlocking Human-Like Facial Expressions in Humanoid Robots: A Novel Approach for Action Unit Driven Facial Expression Disentangled Synthesis IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-02 Xiaofeng Liu, Rongrong Ni, Biao Yang, Siyang Song, Angelo Cangelosi
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$D^{2}$SLAM: Decentralized and Distributed Collaborative Visual-Inertial SLAM System for Aerial Swarm IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-02 Hao Xu, Peize Liu, Xinyi Chen, Shaojie Shen
Collaborative simultaneous localization and mapping (CSLAM) is essential for autonomous aerial swarms, laying the foundation for downstream algorithms, such as planning and control. To address existing CSLAM systems' limitations in relative localization accuracy, crucial for close-range UAV collaboration, this article introduces $D^{2}$ SLAM—a novel decentralized and distributed CSLAM system. $D^{2}$
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NR-SLAM: Non-Rigid Monocular SLAM IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-02 Juan J. Gómez Rodríguez, José M.M. Montiel, Juan D. Tardós
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Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-07-02 Alessandro Colotti, Jorge García Fontán, Alexandre Goldsztejn, Sébastien Briot, François Chaumette, Olivier Kermorgant, Mohab Safey El Din
Local minima are a well-known drawback of image-based visual servoing systems. Up to now, there were no formal guarantees on their number, or even their existence, according to the considered configuration. In this work, a formal approach is presented for the exhaustive computation of all minima and unstable equilibria for a class of six well-known image-based visual servoing controllers. This approach
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Deformable Open-Frame Cable-Driven Parallel Robots: Modeling, Analysis, and Control IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-28 Arthur Ngo Foon Chan, Wuichung Cheng, Darwin Lau
This article proposes a generalized type of cable-driven parallel robot with deformable frames (D-CDPRs). The class of D-CDPRs allows: first, inevitable deformation of traditional rigid frame CDPRs to be considered; and second, new possibilities to develop CDPRs with lightweight frames that would deform. Comparatively, such lightweight CDPRs are easier to set up and largely reduce the cost of material
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How Safe Is Particle Filtering-Based Localization for Mobile Robots? An Integrity Monitoring Approach IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-28 Osama Abdul Hafez, Mathieu Joerger, Matthew Spenko
Deriving safe bounds on particle filter estimate is a research problem that, if solved, could greatly benefit robots in life-critical applications, a field that is facing increasing interest as more robots are being deployed near humans. In response, this article introduces a new fault detector and derives a performance measure for particle filter: integrity risk. Integrity risk is defined as the probability
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Learning Human-like Functional Grasping for Multi-finger Hands from Few Demonstrations IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-28 Wei Wei, Peng Wang, Sizhe Wang, Yongkang Luo, Wanyi Li, Daheng Li, Yayu Huang, Haonan Duan
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Disturbance-Adaptive Tapered Soft Manipulator with Precise Motion Controller for Enhanced Task Performance IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-28 Xianglong Li, Quan Xiong, Dongbao Sui, Qinghua Zhang, Hongwu Li, Ziqi Wang, Tianjiao Zheng, Hesheng Wang, Jie Zhao, Yanhe Zhu
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HIPer: A Human-Inspired Scene Perception Model for Multifunctional Mobile Robots IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-28 Florenz Graf, Jochen Lindermayr, Birgit Graf, Werner Kraus, Marco F. Huber
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A Unified Motion Modeling Approach for Snake Robot's Gaits Generated With Backbone Curve Method IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-28 Wei Huang, Yongchun Fang, Xian Guo, Huawang Liu, Lixing Liu
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Quadratic Programming-Based Reference Spreading Control for Dual-Arm Robotic Manipulation With Planned Simultaneous Impacts IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-28 Jari van Steen, Gijs van den Brandt, Nathan van de Wouw, Jens Kober, Alessandro Saccon
With the aim of further enabling the exploitation of intentional impacts in robotic manipulation, a control framework is presented that directly tackles the challenges posed by tracking control of robotic manipulators that are tasked to perform nominally simultaneous impacts. This framework is an extension of the reference spreading (RS) control framework, in which overlapping ante- and post-impact
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Task and Motion Planning for Execution in the Real IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-24 Tianyang Pan, Rahul Shome, Lydia E. Kavraki
Task and motion planning represents a powerful set of hybrid planning methods that combine reasoning over discrete task domains and continuous motion generation. Traditional reasoning necessitates task domain models and enough information to ground actions to motion planning queries. Gaps in this knowledge often arise from sources such as occlusion or imprecise modeling. This work generates task and
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TossNet: Learning to Accurately Measure and Predict Robot Throwing of Arbitrary Objects in Real Time With Proprioceptive Sensing IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-18 Lipeng Chen, Weifeng Lu, Kun Zhang, Yizheng Zhang, Longfei Zhao, Yu Zheng
Accurate measuring and modeling of dynamic robot manipulation (e.g., tossing and catching) is particularly challenging, due to the inherent nonlinearity, complexity, and uncertainty in high-speed robot motions and highly dynamic robot–object interactions happening in very short distances and times. Most studies leverage extrinsic sensors such as visual and tactile feedback toward task or object-centric
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Exploiting Trust for Resilient Hypothesis Testing With Malicious Robots IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-17 Matthew Cavorsi, Orhan Eren Akgün, Michal Yemini, Andrea J. Goldsmith, Stephanie Gil
In this article, we develop a resilient binary hypothesis testing framework for decision making in adversarial multirobot crowdsensing tasks. This framework exploits stochastic trust observations between robots to arrive at tractable, resilient decision making at a centralized fusion center (FC) even when, first, there exist malicious robots in the network and their number may be larger than the number
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An Underactuated Active Transfemoral Prosthesis With Series Elastic Actuators Enables Multiple Locomotion Tasks IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-17 Ilaria Fagioli, Francesco Lanotte, Tommaso Fiumalbi, Andrea Baldoni, Alessandro Mazzarini, Filippo Dell'Agnello, Huseyin Eken, Vito Papapicco, Tommaso Ciapetti, Alessandro Maselli, Claudio Macchi, Sofia Dalmiani, Angelo Davalli, Emanuele Gruppioni, Emilio Trigili, Simona Crea, Nicola Vitiello
Robotic lower limb prostheses have the power to revolutionize mobility by enhancing gait efficiency and facilitating movement. While several design approaches have been explored to create lightweight and energy-efficient devices, the potential of underactuation remains largely untapped in lower limb prosthetics. Taking inspiration from the natural harmony of walking, in this article, we have developed
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Parallel-Continuum Robots: A Survey IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-17 Sven Lilge, Kathrin Nuelle, Jake A. Childs, Kefei Wen, D. Caleb Rucker, Jessica Burgner-Kahrs
Parallel-continuum robots combine the advantages of both parallel and continuum robotics. They offer a compromise between the inherent compliance and slenderness of continuum robots and the high precision and strength of rigid-link parallel robots. Throughout recent years there has been an increasing research interest in these novel architectures, which form closed kinematic chains that feature flexible
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Analytical Model and Experimental Testing of the SoftFoot: An Adaptive Robot Foot for Walking Over Obstacles and Irregular Terrains IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-17 Cristina Piazza, Cosimo Della Santina, Giorgio Grioli, Antonio Bicchi, Manuel G. Catalano
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations when the robot is required to step on irregular grounds, e.g., stones. While one could think that adding compliance under such feet would solve the problem, this is
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A Cable-Driven Upper Limb Rehabilitation Robot With Muscle-Synergy-Based Myoelectric Controller IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-10 Chenglin Xie, Yueling Lyu, Guoxin Li, Raymond Kai-Yu Tong, Haisheng Xia, Rong Song, Zhijun Li
Surface electromyography (sEMG) signal has been used in upper limb rehabilitation robots (ULRR). However, existing ULRR based on myoelectric controllers suffers from limited generalization ability in estimating three-dimensional (3-D) motion intention. This article proposes a muscle-synergy-inspired approach to enhance the generalization ability of the myoelectric controller of a cable-driven ULRR
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Robust Quadrupedal Jumping With Impact-Aware Landing: Exploiting Parallel Elasticity IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-10 Jiatao Ding, Vassil Atanassov, Edoardo Panichi, Jens Kober, Cosimo Della Santina
Introducing parallel elasticity in the hardware design endows quadrupedal robots with the ability to perform explosive and efficient motions. However, for this kind of articulated soft quadruped, realizing dynamic jumping with robustness against system uncertainties remains a challenging problem. To achieve this, we propose an impact-aware jumping planning and control approach. Specifically, an offline
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Obstacle-Aided Trajectory Control of a Quadrupedal Robot Through Sequential Gait Composition IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-06 Haodi Hu, Feifei Qian
Modeling and controlling legged robot locomotion on terrains with densely distributed large rocks and boulders are fundamentally challenging. Unlike traditional methods, which often consider these rocks and boulders as obstacles and attempt to find a clear path to circumvent them, in this study, we aim to develop methods for robots to actively utilize interaction forces with these “obstacles” for locomotion
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Planar Friction Modeling With LuGre Dynamics and Limit Surfaces IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-06 Gabriel Arslan Waltersson, Yiannis Karayiannidis
During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This article proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended state models are proposed, and the elastoplastic model is extended for multidimensional friction. Subsequently, we derive a reduced planar friction model coupled
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A Minimally Designed Audio-Animatronic Robot IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-06 Kyu Min Park, Jeongah Cheon, Sehyuk Yim
Animatronic robots that simulate the lively and realistic motions of creatures can be excellent robotic platforms for social interaction with people. In particular, the robot head is a very important part of expressing various emotions and generating human-friendly and aesthetic impressions. This article presents Ray, a new type of audio-animatronic robot head. All the mechanical structure of the robot
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MINRob: A Large Force-Outputting Miniature Robot Based on a Triple-Magnet System IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-05 Yuxuan Xiang, Ruomao Liu, Zihan Wei, Xinliang Wang, Weida Kang, Min Wang, Jun Liu, Xudong Liang, Jiachen Zhang
Magnetically actuated miniature robots are limited in their mechanical outputting capability, because the magnetic forces decrease significantly with decreasing robot size and increasing actuating distance. Hence, the output force of these robots can hardly meet the demand for specific biomedical applications (e.g., tissue penetration). This article proposes a tetherless magnetic impact needle robot
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Robust Visual Feedback Control for Precise In-Hand Manipulation Using Parallel Soft Actuators IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-06-05 Yoshiki Mori, Mingzhu Zhu, Sadao Kawamura
Soft robotic hands are reliable for grasping objects of various shapes. However, they perform poorly in the high-precision manipulation of grasped objects because the modeling and sensing of soft actuator deformation are complex. To overcome this problem, in a previous study, we proposed a robust visual feedback control method for precise in-hand manipulation using parallel soft actuators. This method
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A Meniscus-Like Structure in Anthropomorphic Joints to Attenuate Impacts IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-31 Lianxin Yang, Zhihua Zhao
During robotic locomotion, shock forces from ground impact propagate through the leg and may cause fatigue or damage to joints and sensitive hardware. To attenuate impacts in diverse aspects and directions, multiple approaches, including active control strategies and passive compliant joints, are essential for providing a comprehensive solution. Here, inspired by human knees, a meniscus-like structure
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A Novel Contact-Aided Continuum Robotic System: Design, Modeling, and Validation IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-16 Zheshuai Yang, Laihao Yang, Yu Sun, Xuefeng Chen
Tendon-driven continuum robots are of great promise in dexterous manipulation in long-narrow spaces, such as in-situ maintenance of aeroengines, due to their slender body and compliant hyper-redundant architecture. However, major challenges in implementing this come from mechanical design and morphology estimation: torsion and buckling issues induced by the intrinsic compliant architecture and the
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Quantifying the Risk of Unmapped Associations for Mobile Robot Localization Safety IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-15 Yihe Chen, Boris Pervan, Matthew Spenko
Integrity risk is a measure of localization safety that accounts for the presence of undetected sensor faults. The metric has been used for decades in aviation and has recently been applied to terrestrial robots operating on life-critical missions. For ground vehicles, integrity risk can be quantified for systems using lidar measurements, where two specific fault types have been identified: miss-association
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Mitigating Distributional Shift in Semantic Segmentation via Uncertainty Estimation From Unlabeled Data IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 David S. W. Williams, Daniele De Martini, Matthew Gadd, Paul Newman
Knowing when a trained segmentation model is encountering data that is different to its training data is important. Understanding and mitigating the effects of this play an important part in their application from a performance and assurance perspective—this being a safety concern in applications such as autonomous vehicles. This article presents a segmentation network that can detect errors caused
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Keypoint-Guided Efficient Pose Estimation and Domain Adaptation for Micro Aerial Vehicles IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 Ye Zheng, Canlun Zheng, Jiahao Shen, Peidong Liu, Shiyu Zhao
Visual detection of micro aerial vehicles (MAVs) is an important problem in many tasks such as vision-based swarming of MAVs. This article studies vision-based 6-D pose estimation to detect a 3-D bounding box of a target MAV, and then, estimate its 3-D position and 3-D attitude. The 3-D attitude information is critical to better estimate the target's velocity since the attitude and motion are dynamically
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Interactive Autonomous Navigation With Internal State Inference and Interactivity Estimation IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 Jiachen Li, David Isele, Kanghoon Lee, Jinkyoo Park, Kikuo Fujimura, Mykel J. Kochenderfer
Deep reinforcement learning (DRL) provides a promising way for intelligent agents (e.g., autonomous vehicles) to learn to navigate complex scenarios. However, DRL with neural networks as function approximators is typically considered a black box with little explainability and often suffers from suboptimal performance, especially for autonomous navigation in highly interactive multiagent environments
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Variable Wheelbase Control of Wheeled Mobile Robots With Worm-Inspired Creeping Gait Strategy IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 Huanan Qi, Liang Ding, Miao Zheng, Lan Huang, Haibo Gao, Guangjun Liu, Zongquan Deng
Wheeled mobile robots (WMRs) with variable wheelbases are capable of traveling on deformable terrains and handling complex detection tasks. While the variable wheelbase length of WMR allows it to interact with the terrains adaptively, enhancing its mobility, it brings a control challenge. Inspired by the worm's movement of stretching body at different lengths under different environmental resistance
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MS-VRO: A Multistage Visual-Millimeter Wave Radar Fusion Odometry IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 Yuwei Cheng, Mengxin Jiang, Yimin Liu
Monocular visual odometry (VO) has extensive applications in mobile robots and computer vision. However, current applications of monocular VO systems in complex environments still have limitations. Accurate, robust, and easy-to-use VO is still an unsolved problem to some extent. In recent years, the single-chip millimeter-wave (mmWave) radar has been increasingly used in various types of mobile robots
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Smooth Distances for Second-Order Kinematic Robot Control IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 Vinicius Mariano Gonçalves, Anthony Tzes, Farshad Khorrami, Philippe Fraisse
In this article, we propose an algorithm for computing a smoothed version of the distance between two objects. As opposed to the traditional Euclidean distance between two objects, which may not be differentiable, this smoothed distance is guaranteed to be differentiable. Differentiability is an important property in many applications, in particular in robotics, in which obstacle-avoidance schemes
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Not Only Rewards but Also Constraints: Applications on Legged Robot Locomotion IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 Yunho Kim, Hyunsik Oh, Jeonghyun Lee, Jinhyeok Choi, Gwanghyeon Ji, Moonkyu Jung, Donghoon Youm, Jemin Hwangbo
Several earlier studies have shown impressive control performance in complex robotic systems by designing the controller using a neural network and training it with model-free reinforcement learning. However, these outstanding controllers with natural motion style and high task performance are developed through extensive reward engineering, which is a highly laborious and time-consuming process of
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Safe Set-Based Trajectory Planning for Robotic Manipulators IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 Ryan McGovern, Nikolaos Athanasopoulos, Seán McLoone
Inspired by the line of seminal works on projected path dynamics and time-optimal control of robots, which originated in the 1980s, and recent advances on the computation of safe sets for complex systems in control, we present a new trajectory planning framework for $N$ -link robotic manipulators. Given a path, defined typically in the workspace, we recover the admissible velocity profiles and the
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Dynamic Adaptive Dynamic Window Approach IEEE Trans. Robot. (IF 9.4) Pub Date : 2024-05-14 Matej Dobrevski, Danijel Sko훾aj
Robust local navigation is a critical capability for any mobile robot operating in a real-world unstructured environment, especially when there are humans or other moving obstacles in the workspace. One of the most commonly used methods for local navigation is the dynamic window approach (DWA), which does not address the problem of dynamic obstacles and depends heavily on the settings of the parameters