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Active Task Randomization: Learning Robust Skills via Unsupervised Generation of Diverse and Feasible Tasks | https://ieeexplore.ieee.org/document/10341727/ | [
"Kuan Fang",
"Toki Migimatsu",
"Ajay Mandlekar",
"Li Fei-Fei",
"Jeannette Bohg",
"Kuan Fang",
"Toki Migimatsu",
"Ajay Mandlekar",
"Li Fei-Fei",
"Jeannette Bohg"
]
| Solving real-world manipulation tasks requires robots to be equipped with a repertoire of skills that can be applied to diverse scenarios. While learning-based methods can enable robots to acquire skills from interaction data, their success relies on collecting training data that covers the diverse range of tasks that the robot may encounter during the test time. However, creating diverse and feas... |
Robust Self-Supervised Extrinsic Self-Calibration | https://ieeexplore.ieee.org/document/10341367/ | [
"Takayuki Kanai",
"Igor Vasiljevic",
"Vitor Guizilini",
"Adrien Gaidon",
"Rares Ambrus",
"Takayuki Kanai",
"Igor Vasiljevic",
"Vitor Guizilini",
"Adrien Gaidon",
"Rares Ambrus"
]
| Autonomous vehicles and robots need to operate over a wide variety of scenarios in order to complete tasks efficiently and safely. Multi-camera self-supervised monocular depth estimation from videos is a promising way to reason about the environment, as it generates metrically scaled geometric predictions from visual data without requiring additional sensors. However, most works assume well-calibr... |
Do More with Less: Single-Model, Multi-Goal Architectures for Resource-Constrained Robots | https://ieeexplore.ieee.org/document/10341879/ | [
"Zili Wang",
"Drew Threatt",
"Sean B. Andersson",
"Roberto Tron",
"Zili Wang",
"Drew Threatt",
"Sean B. Andersson",
"Roberto Tron"
]
| Deep learning methods are widely used in robotic applications. By learning from prior experience, the robot can abstract knowledge of the environment, and use this knowledge to accomplish different goals, such as object search, frontier exploration, or scene understanding, with a smaller amount of resources than might be needed without that knowledge. Most existing methods typically require a sign... |
Enhancing State Estimation in Robots: A Data-Driven Approach with Differentiable Ensemble Kalman Filters | https://ieeexplore.ieee.org/document/10341617/ | [
"Xiao Liu",
"Geoffrey Clark",
"Joseph Campbell",
"Yifan Zhou",
"Heni Ben Amor",
"Xiao Liu",
"Geoffrey Clark",
"Joseph Campbell",
"Yifan Zhou",
"Heni Ben Amor"
]
| This paper introduces a novel state estimation framework for robots using differentiable ensemble Kalman filters (DEnKF). DEnKF is a reformulation of the traditional ensemble Kalman filter that employs stochastic neural networks to model the process noise implicitly. Our work is an extension of previous research on differentiable filters, which has provided a strong foundation for our modular and ... |
Learning a Causal Transition Model for Object Cutting | https://ieeexplore.ieee.org/document/10341424/ | [
"Zeyu Zhang",
"Muzhi Han",
"Baoxiong Jia",
"Ziyuan Jiao",
"Yixin Zhu",
"Song-Chun Zhu",
"Hangxin Liu",
"Zeyu Zhang",
"Muzhi Han",
"Baoxiong Jia",
"Ziyuan Jiao",
"Yixin Zhu",
"Song-Chun Zhu",
"Hangxin Liu"
]
| Cutting objects into desired fragments is challenging for robots due to the spatially unstructured nature of fragments and the complex one-to-many object fragmentation caused by actions. We present a novel approach to model object fragmentation using an attributed stochastic grammar. This grammar abstracts fragment states as node variables and captures causal transitions in object fragmentation th... |
Object Rearrangement Planning for Target Retrieval in a Confined Space with Lateral View | https://ieeexplore.ieee.org/document/10341865/ | [
"Minjae Kang",
"Junseok Kim",
"Hogun Kee",
"Songhwai Oh",
"Minjae Kang",
"Junseok Kim",
"Hogun Kee",
"Songhwai Oh"
]
| In this paper, we perform an object rearrangement task for target retrieval in an environment with a confined space and limited observation directions. The agent must create a collision-free path to bring out the target object by relocating the surrounding objects using the prehensile action, i.e., pick-and-place. Object rearrangement in a confined space is a non-monotone problem, and finding a va... |
Learning Type-Generalized Actions for Symbolic Planning | https://ieeexplore.ieee.org/document/10342301/ | [
"Daniel Tanneberg",
"Michael Gienger",
"Daniel Tanneberg",
"Michael Gienger"
]
| Symbolic planning is a powerful technique to solve complex tasks that require long sequences of actions and can equip an intelligent agent with complex behavior. The downside of this approach is the necessity for suitable symbolic representations describing the state of the environment as well as the actions that can change it. Traditionally such representations are carefully hand-designed by expe... |
CAR-DESPOT: Causally-Informed Online POMDP Planning for Robots in Confounded Environments | https://ieeexplore.ieee.org/document/10342223/ | [
"Ricardo Cannizzaro",
"Lars Kunze",
"Ricardo Cannizzaro",
"Lars Kunze"
]
| Robots operating in real-world environments must reason about possible outcomes of stochastic actions and make decisions based on partial observations of the true world state. A major challenge for making accurate and robust action predictions is the problem of confounding, which if left untreated can lead to prediction errors. The partially observable Markov decision process (POMDP) is a widely-u... |
Recurrent Macro Actions Generator for POMDP Planning | https://ieeexplore.ieee.org/document/10341759/ | [
"Yuanchu Liang",
"Hanna Kurniawati",
"Yuanchu Liang",
"Hanna Kurniawati"
]
| Many planning problems in robotics require long planning horizon and uncertain in nature. The Par-tially Observable Markov Descision Process (POMDP) is a mathematically principled framework for planning under uncertainty. To alleviate the difficulties of computing good approximate POMDP solutions for long horizon problems, one often plans using macro actions, where each macro action is a chain of ... |
Task Planning and Motion Control with Temporal Logic Specifications | https://ieeexplore.ieee.org/document/10341494/ | [
"Marcos S. Pereira",
"Luciano C. A. Pimenta",
"Bruno V. Adorno",
"Marcos S. Pereira",
"Luciano C. A. Pimenta",
"Bruno V. Adorno"
]
| This paper proposes a task planning and motion control framework that generates task plans for a linear temporal logic specification (LTL), which are then executed using a task-space constrained motion controller and a local task planner that overcomes local minima. We propose a new encoding for task specifications, directly in the task-space, as constraints of a mixed-integer linear program that ... |
Simultaneous Action and Grasp Feasibility Prediction for Task and Motion Planning Through Multi-Task Learning | https://ieeexplore.ieee.org/document/10341257/ | [
"Smail Ait Bouhsain",
"Rachid Alami",
"Thierry Siméon",
"Smail Ait Bouhsain",
"Rachid Alami",
"Thierry Siméon"
]
| In this paper, we address task and motion plan-ning (TAMP) which is an important yet challenging robotics problem. It is known to suffer from the high combinatorial complexity of discrete search, often requiring a large number of geometric planning calls. We build upon recent works in TAMP by taking advantage of learning methods to provide action feasibility information as a heuristic to the symbo... |
Differentiable Task Assignment and Motion Planning | https://ieeexplore.ieee.org/document/10341602/ | [
"Jimmy Envall",
"Roi Poranne",
"Stelian Coros",
"Jimmy Envall",
"Roi Poranne",
"Stelian Coros"
]
| Task and motion planning is one of the key problems in robotics today. It is often formulated as a discrete task allocation problem combined with continuous motion planning. Many existing approaches to TAMP involve explicit descriptions of task primitives that cause discrete changes in the kinematic relationship between the actor and the objects. In this work we propose an alternative, fully diffe... |
Effectively Rearranging Heterogeneous Objects on Cluttered Tabletops | https://ieeexplore.ieee.org/document/10342164/ | [
"Kai Gao",
"Justin Yu",
"Tanay Sandeep Punjabi",
"Jingjin Yu",
"Kai Gao",
"Justin Yu",
"Tanay Sandeep Punjabi",
"Jingjin Yu"
]
| Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been given to the planning for sequentially manipulating such objects. In this work, we examine the long-horizon sequential rearrangement of heterogeneous objects in a ... |
Semantics-Aware Mission Adaptation for Autonomous Exploration in Urban Environments | https://ieeexplore.ieee.org/document/10341632/ | [
"Sangwoo Moon",
"Oriana Peltzer",
"Joshua Ott",
"Sung-Kyun Kim",
"Ali-Akbar Agha-Mohammadi",
"Sangwoo Moon",
"Oriana Peltzer",
"Joshua Ott",
"Sung-Kyun Kim",
"Ali-Akbar Agha-Mohammadi"
]
| Robust mission planning is an essential component for mission autonomy to perform complicated tasks in extreme environments. In this paper, we are interested in the role of semantic abstractions for guiding autonomous mission planning. In particular, we focus on how semantics can be leveraged to transition, at the mission level, in between individually robust task plans. We present a mission auton... |
Optimal Cost-Preference Trade-Off Planning with Multiple Temporal Tasks | https://ieeexplore.ieee.org/document/10342351/ | [
"Peter Amorese",
"Morteza Lahijanian",
"Peter Amorese",
"Morteza Lahijanian"
]
| Autonomous robots are increasingly utilized in realistic scenarios with multiple complex tasks. In these scenarios, there may be a preferred way of completing the tasks, but it is often in conflict with optimal execution. Recent work studies preference-based planning, however, they have yet to extend the notion of preference to the behavior of the robot with respect to each task. In this work, we ... |
Optimal and Stable Multi-Layer Object Rearrangement on a Tabletop | https://ieeexplore.ieee.org/document/10342446/ | [
"Andy Xu",
"Kai Gao",
"Si Wei Feng",
"Jingjin Yu",
"Andy Xu",
"Kai Gao",
"Si Wei Feng",
"Jingjin Yu"
]
| Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first algorithmic study on optimally solving the problem of Multi-layer Object Rearrangement on a Tabletop (MORT), in which one object may be relocated at a time, and an object... |
Task and Motion Planning with Large Language Models for Object Rearrangement | https://ieeexplore.ieee.org/document/10342169/ | [
"Yan Ding",
"Xiaohan Zhang",
"Chris Paxton",
"Shiqi Zhang",
"Yan Ding",
"Xiaohan Zhang",
"Chris Paxton",
"Shiqi Zhang"
]
| Multi-object rearrangement is a crucial skill for service robots, and commonsense reasoning is frequently needed in this process. However, achieving commonsense arrangements requires knowledge about objects, which is hard to transfer to robots. Large language models (LLMs) are one potential source of this knowledge, but they do not naively capture information about plausible physical arrangements ... |
Improving Amputee Endurance Over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study | https://ieeexplore.ieee.org/document/10341643/ | [
"T. Kevin Best",
"Curt A. Laubscher",
"Ross J. Cortino",
"Shihao Cheng",
"Robert D. Gregg",
"T. Kevin Best",
"Curt A. Laubscher",
"Ross J. Cortino",
"Shihao Cheng",
"Robert D. Gregg"
]
| Robotic knee-ankle prostheses have often fallen short relative to passive microprocessor prostheses in time-based clinical outcome tests. User ambulation endurance is an alternative clinical outcome metric that may better highlight the benefits of robotic prostheses. However, previous studies were unable to show endurance benefits due to inaccurate high-level classification, discretized mid-level ... |
Controlling Powered Prosthesis Kinematics Over Continuous Transitions Between Walk and Stair Ascent | https://ieeexplore.ieee.org/document/10341457/ | [
"Shihao Cheng",
"Curt A. Laubscher",
"Robert D. Gregg",
"Shihao Cheng",
"Curt A. Laubscher",
"Robert D. Gregg"
]
| One of the primary benefits of emerging powered prosthetic legs is their ability to facilitate step-over-step stair ascent by providing positive mechanical work. Existing control methods typically have distinct steady-state activity modes for walking and stair ascent, where activity transitions involve discretely switching between controllers and often must be initiated with a particular leg. Howe... |
Calibration of a Tibia-Based Phase Variable for Control of Robotic Transtibial Prostheses | https://ieeexplore.ieee.org/document/10341724/ | [
"Ryan R. Posh",
"Jonathan A. Tittle",
"James P. Schmiedeler",
"Patrick M. Wensing",
"Ryan R. Posh",
"Jonathan A. Tittle",
"James P. Schmiedeler",
"Patrick M. Wensing"
]
| Phase variable control based on global tibia kinematics holds promise for predicting gait cycle progression to continuously control robotic transtibial prostheses. Calibration of the phase variable is critical to ensure its monotonic behavior, to approach a linear relationship with gait percentage, and to accurately predict the percentage of gait. This paper compares four calibration approaches us... |
On Intuitive Control of Ankle-Foot Prostheses: A Sensor Fusion-Based Algorithm for Real-Time Prediction of Transitions to Compliant Surfaces | https://ieeexplore.ieee.org/document/10341783/ | [
"Charikleia Angelidou",
"Panagiotis Artemiadis",
"Charikleia Angelidou",
"Panagiotis Artemiadis"
]
| Substantial research and development on the design and control of robotic ankle-foot prostheses have aimed to restore normal function and movement capacity for people with gait impairments and lower limb amputations. However, prostheses controllers usually fail to incorporate information pertaining to the properties of the walking terrain, such as ground stiffness. There is therefore a need for a ... |
Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains | https://ieeexplore.ieee.org/document/10342504/ | [
"Liam M. Sullivan",
"Suzi Creveling",
"Marissa Cowan",
"Lukas Gabert",
"Tommaso Lenzi",
"Liam M. Sullivan",
"Suzi Creveling",
"Marissa Cowan",
"Lukas Gabert",
"Tommaso Lenzi"
]
| Ambulation in everyday life requires walking at variable speeds, variable inclines, and variable terrains. Powered prostheses aim to provide this adaptability through control of the actuated joints. Some powered prosthesis controllers can adapt to discrete changes in speed and incline but require manual tuning to determine the control parameters, leading to poor clinical viability. Other data-driv... |
Motor Unit Action Potential Based Classification of Hand and Arm Motions | https://ieeexplore.ieee.org/document/10342444/ | [
"Michael D. Twardowski",
"Michael D. Chan",
"Zhi Li",
"Gianluca De Luca",
"Joshua C. Kline",
"John P. Chiodini",
"Michael D. Twardowski",
"Michael D. Chan",
"Zhi Li",
"Gianluca De Luca",
"Joshua C. Kline",
"John P. Chiodini"
]
| While motion classification architectures have improved in accuracy and robustness in recent years, computationally expensive approaches and sophisticated hardware dependencies limit their real-world applicability. To overcome these challenges, we have designed a lightweight, realtime architecture for classifying motions of the arm & hand using features derived from motor unit action potentials wi... |
Adjusting the Quasi-Stiffness of an Ankle-Foot Prosthesis Improves Walking Stability during Locomotion over Compliant Terrain | https://ieeexplore.ieee.org/document/10342344/ | [
"Chrysostomos Karakasis",
"Robert Salati",
"Panagiotis Artemiadis",
"Chrysostomos Karakasis",
"Robert Salati",
"Panagiotis Artemiadis"
]
| Despite significant advances in the design of robotic lower-limb prostheses for individuals with impaired mobility, there is a need for further progress in improving the robustness, safety, and stability of these devices in a wide range of activities of daily living. Although powered prostheses have been able to adapt to different speeds, conditions, and rigid terrains, no control strategies have ... |
A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis | https://ieeexplore.ieee.org/document/10341691/ | [
"Marissa Cowan",
"Suzi Creveling",
"Liam M. Sullivan",
"Lukas Gabert",
"Tommaso Lenzi",
"Marissa Cowan",
"Suzi Creveling",
"Liam M. Sullivan",
"Lukas Gabert",
"Tommaso Lenzi"
]
| Powered lower-limb prostheses have the potential to improve amputee mobility by closely imitating the biomechanical function of the missing biological leg. To accomplish this goal, powered prostheses need controllers that can seamlessly adapt to the ambulation activity intended by the user. Most powered prosthesis control architectures address this issue by switching between specific controllers f... |
Volitional EMG Control Enables Stair Climbing with a Robotic Powered Knee Prosthesis | https://ieeexplore.ieee.org/document/10341615/ | [
"Suzi Creveling",
"Marissa Cowan",
"Liam M. Sullivan",
"Lukas Gabert",
"Tommaso Lenzi",
"Suzi Creveling",
"Marissa Cowan",
"Liam M. Sullivan",
"Lukas Gabert",
"Tommaso Lenzi"
]
| Existing controllers for robotic powered prostheses regulate the prosthesis speed, timing, and energy generation using predefined position or torque trajectories. This approach enables climbing stairs step-over-step. However, it does not provide amputees with direct volitional control of the robotic prosthesis, a functionality necessary to restore full mobility to the user. Here we show that propo... |
Development and Online Validation of an Intrinsic Fault Detector for a Powered Robotic Knee Prosthesis | https://ieeexplore.ieee.org/document/10342433/ | [
"Amirreza Naseri",
"Ming Liu",
"I-Chieh Lee",
"Helen He Huang",
"Amirreza Naseri",
"Ming Liu",
"I-Chieh Lee",
"Helen He Huang"
]
| Robotic prosthetic legs have the potential to significantly improve the quality of life for lower limb amputees to perform locomotion in various environments and task conditions. However, these devices lack the capability to recover from internal intrinsic control faults, which can lead to harmful consequences affecting the user's gait performance and eroding trust in these robotic devices. Theref... |
Collision-Free Reconfiguration Planning for Variable Topology Trusses Using a Linking Invariant | https://ieeexplore.ieee.org/document/10341927/ | [
"Alexander Spinos",
"Mark Yim",
"Alexander Spinos",
"Mark Yim"
]
| We introduce a multi-modal reconfiguration planner for the Variable Topology Truss (VTT) modular robot system. The VTT system is a truss-architecture modular self-reconfigurable robot. When a VTT is restricted to a single topology, the collision constraints between the truss members divide the configuration space into many connected components, which makes collision-free planning difficult. This n... |
Hybrid Map-Based Path Planning for Robot Navigation in Unstructured Environments | https://ieeexplore.ieee.org/document/10341666/ | [
"Jiayang Liu",
"Xieyuanli Chen",
"Junhao Xiao",
"Sichao Lin",
"Zhiqiang Zheng",
"Huimin Lu",
"Jiayang Liu",
"Xieyuanli Chen",
"Junhao Xiao",
"Sichao Lin",
"Zhiqiang Zheng",
"Huimin Lu"
]
| Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance the efficiency and safety for ground robots navigating in such challenging scenarios. In this paper, we propose a novel hybrid map representation by fusing a 2D g... |
CDT-Dijkstra: Fast Planning of Globally Optimal Paths for All Points in 2D Continuous Space | https://ieeexplore.ieee.org/document/10341744/ | [
"Jinyuan Liu",
"Minglei Fu",
"Wenan Zhang",
"Bo Chen",
"Ryhor Prakapovich",
"Uladzislau Sychou",
"Jinyuan Liu",
"Minglei Fu",
"Wenan Zhang",
"Bo Chen",
"Ryhor Prakapovich",
"Uladzislau Sychou"
]
| The Dijkstra algorithm is a classic path planning method, which in a discrete graph space, can start from a specified source node and find the shortest path between the source node and all other nodes in the graph. However, to the best of our knowledge, there is no effective method that achieves a function similar to that of the Dijkstra's algorithm in a continuous space. In this study, an optimal... |
Large Scale Pursuit-Evasion Under Collision Avoidance Using Deep Reinforcement Learning | https://ieeexplore.ieee.org/document/10341975/ | [
"Helei Yang",
"Peng Ge",
"Junjie Cao",
"Yifan Yang",
"Yong Liu",
"Helei Yang",
"Peng Ge",
"Junjie Cao",
"Yifan Yang",
"Yong Liu"
]
| This paper examines a pursuit-evasion game (PEG) involving multiple pursuers and evaders. The decentralized pursuers aim to collaborate to capture the faster evaders while avoiding collisions. The policies of all agents are learning-based and are subjected to kinematic constraints that are specific to unicycles. To address the challenge of high dimensionality encountered in large-scale scenarios, ... |
Exploring Social Motion Latent Space and Human Awareness for Effective Robot Navigation in Crowded Environments | https://ieeexplore.ieee.org/document/10341721/ | [
"Junaid Ahmed Ansari",
"Satyajit Tourani",
"Gourav Kumar",
"Brojeshwar Bhowmick",
"Junaid Ahmed Ansari",
"Satyajit Tourani",
"Gourav Kumar",
"Brojeshwar Bhowmick"
]
| This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in social navigation metrics such as success rate, navigation time, and trajectory length while producing smoother (less jerk and angular deviations) and more ant... |
DS-MPEPC: Safe and Deadlock-Avoiding Robot Navigation in Cluttered Dynamic Scenes | https://ieeexplore.ieee.org/document/10341869/ | [
"Senthil Hariharan Arul",
"Jong Jin Park",
"Dinesh Manocha",
"Senthil Hariharan Arul",
"Jong Jin Park",
"Dinesh Manocha"
]
| We present an algorithm for safe robot navigation in complex dynamic environments using a variant of model predictive equilibrium point control. We use an optimization formulation to navigate robots gracefully in dynamic environments by optimizing over a trajectory cost function at each timestep. We present a novel trajectory cost formulation that significantly reduces conservative and deadlocking... |
Path-Following Control with Path and Orientation Snap-In | https://ieeexplore.ieee.org/document/10341392/ | [
"Christian Hartl-Nesic",
"Elias Pritzi",
"Andreas Kugi",
"Christian Hartl-Nesic",
"Elias Pritzi",
"Andreas Kugi"
]
| Robots need to be as simple to use as tools in a workshop and allow non-experts to program, modify and execute tasks. In particular for repetitive tasks in high-mix/low-volume production, robotic support and physical human-robot interaction (pHRI) help to significantly increase productivity. In path-following control (PFC), the geometric description of the path is decoupled from the time evolution... |
Design and Control of a Reluctance-Based Micropositioning Stage for Scanning Motion Applications | https://ieeexplore.ieee.org/document/10341381/ | [
"Mohammad Al Saaideh",
"Natheer Alatawneh",
"Khaled Aljanaideh",
"Mohammad Al Janaideh",
"Mohammad Al Saaideh",
"Natheer Alatawneh",
"Khaled Aljanaideh",
"Mohammad Al Janaideh"
]
| This paper presents a design and characterization of a micropositioning stage driven by a reluctance actuator. The stage is constructed with a C-core reluctance actuator and four compression springs. The design of the stage is presented using a CAD model, followed by the fabrication process of the prototype. The mathematical model is formulated to present the interaction among the stage's electric... |
Body Posture Controller for Actively Articulated Tracked Vehicles Moving Over Rough and Unknown Terrains | https://ieeexplore.ieee.org/document/10341528/ | [
"Filipe Rocha",
"Andre Cid",
"Mário Delunardo",
"Renato P. Junior",
"Nilton S Thiago",
"Luiz Barros",
"Jacó D. Domingues",
"Gustavo Pessin",
"Gustavo Freitas",
"Ramon Costa",
"Filipe Rocha",
"Andre Cid",
"Mário Delunardo",
"Renato P. Junior",
"Nilton S Thiago",
"Luiz Barros",
"Jacó D. Domingues",
"Gustavo Pessin",
"Gustavo Freitas",
"Ramon Costa"
]
| Terrestrial mobile robots face diverse topographies while in field missions. Rough terrains cause the platform to oscillate, which is undesirable for some tasks. Robotic platforms with active tracked flippers can use such mechanisms to reach and maintain a leveled configuration while halted or moving. Thus, this work presents a posture controller that regulates the robot's orientation and contact ... |
Exploring Learning-Based Control Policy for Fish-Like Robots in Altered Background Flows | https://ieeexplore.ieee.org/document/10342394/ | [
"Xiaozhu Lin",
"Wenbin Song",
"Xiaopei Liu",
"Xuming He",
"Yang Wang",
"Xiaozhu Lin",
"Wenbin Song",
"Xiaopei Liu",
"Xuming He",
"Yang Wang"
]
| The study of motion control for the fish-like robots in complex fluid fields is of great importance in improving the performance of underwater vehicles, due to its strong maneuverability, propulsion efficiency, and deceptive visual appearance. In this article, a novel learning-based control framework is first proposed to autonomously explore efficient control policies that are capable of performin... |
On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds | https://ieeexplore.ieee.org/document/10341266/ | [
"Holger Klein",
"Noémie Jaquier",
"Andre Meixner",
"Tamim Asfour",
"Holger Klein",
"Noémie Jaquier",
"Andre Meixner",
"Tamim Asfour"
]
| The generation of energy-efficient and dynamic-aware robot motions that satisfy constraints such as joint limits, self-collisions, and collisions with the environment remains a challenge. In this context, Riemannian geometry offers promising solutions by identifying robot motions with geodesics on the so-called configuration space manifold. While this manifold naturally considers the intrinsic rob... |
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles | https://ieeexplore.ieee.org/document/10342515/ | [
"Moritz Eckhoff",
"Dennis Knobbe",
"Henning Zwirnmann",
"Abdalla Swikir",
"Sami Haddadin",
"Moritz Eckhoff",
"Dennis Knobbe",
"Henning Zwirnmann",
"Abdalla Swikir",
"Sami Haddadin"
]
| One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Al-though several methods have been introduced to tackle this, most are unsuitable for real-time applications and require carefully handcrafted obstacle descriptions. In this work,... |
Real-Time Whole-Body Collision Avoidance and Path Following of a Snake Robot Through MPC-based Optimization Strategies | https://ieeexplore.ieee.org/document/10342404/ | [
"Liuyin Wang",
"Gang Wang",
"Yuan Li",
"Peng Li",
"Yunfeng Ji",
"Chaoli Wang",
"Yantao Shen",
"Liuyin Wang",
"Gang Wang",
"Yuan Li",
"Peng Li",
"Yunfeng Ji",
"Chaoli Wang",
"Yantao Shen"
]
| The work in this paper delves into the challenge of whole elongated body's obstacle avoidance during path following for a class of bionic snake robots. Currently, most studies focus solely on preventing the robot's head from colliding with obstacles through designed controllers. However, due to the unique elongated structure and biomimetic locomotion modes of snake robots, it is unavoidable that t... |
Safety-Critical Coordination for Cooperative Legged Locomotion via Control Barrier Functions | https://ieeexplore.ieee.org/document/10341987/ | [
"Jeeseop Kim",
"Jaemin Lee",
"Aaron D. Ames",
"Jeeseop Kim",
"Jaemin Lee",
"Aaron D. Ames"
]
| This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe cooperation of the robots while maintaining a desired formation and avoiding obstacles. The top-level planner generates a set of feasible trajectories, accounting for... |
Staged Contact Optimization: Combining Contact-Implicit and Multi-Phase Hybrid Trajectory Optimization | https://ieeexplore.ieee.org/document/10342296/ | [
"Michael R. Turski",
"Joseph Norby",
"Aaron M. Johnson",
"Michael R. Turski",
"Joseph Norby",
"Aaron M. Johnson"
]
| Trajectory optimization problems for legged robots are commonly formulated with fixed contact schedules. These multi-phase Hybrid Trajectory Optimization (HTO) methods result in locally optimal trajectories, but the result depends heavily upon the predefined contact mode sequence. Contact-Implicit Optimization (CIO) offers a potential solution to this issue by allowing the contact mode to be deter... |
Hierarchical Relaxation of Safety-critical Controllers: Mitigating Contradictory Safety Conditions with Application to Quadruped Robots | https://ieeexplore.ieee.org/document/10342094/ | [
"Jaemin Lee",
"Jeeseop Kim",
"Aaron D. Ames",
"Jaemin Lee",
"Jeeseop Kim",
"Aaron D. Ames"
]
| The safety-critical control of robotic systems often must account for multiple, potentially conflicting, safety constraints. This paper proposes novel relaxation techniques to address safety-critical control problems in the presence of conflicting safety conditions. In particular, Control Barrier Functions (CBFs) provide a means to encode safety as constraints in a Quadratic Program (QP), wherein ... |
Design of Novel Knee Joint Mechanism of Lower-Limb Exoskeleton to Realize Spatial Motion of Human Knee | https://ieeexplore.ieee.org/document/10342378/ | [
"Man Bok Hong",
"Yongcheol Kim",
"Gwang Tae Kim",
"Myunghyun Lee",
"Seonwoo Kim",
"Man Bok Hong",
"Yongcheol Kim",
"Gwang Tae Kim",
"Myunghyun Lee",
"Seonwoo Kim"
]
| The rotation axis of human knee joint varies according to knee flexion angles. That is, human knee movement is spatial with dominant flexional rotation. Knee joints of most lower-limb exoskeletons were, however, realized with a simple revolute pair for design simplicity. Wearing the knee joint with a simple revolute pair constrains inevitably natural parasitic motion of human knee joint. Rigid con... |
A Novel Coiled Cable-Conduit-Driven Hyper-Redundant Manipulator for Remote Operating in Narrow Spaces | https://ieeexplore.ieee.org/document/10341359/ | [
"Mingrui Luo",
"Yunong Tian",
"En Li",
"Minghao Chen",
"Cunfeng Kang",
"Guodong Yang",
"Min Tan",
"Mingrui Luo",
"Yunong Tian",
"En Li",
"Minghao Chen",
"Cunfeng Kang",
"Guodong Yang",
"Min Tan"
]
| Operating in narrow spaces is an important challenge in the development of robots. Redundant manipulators are one way to solve this problem, but their mechanism design and control method still have much room for improvement. In this paper, we propose a coiled cable-conduit-driven hyper-redundant manipulator (C-CDHRM) with great slenderness and flexibility. In terms of mechanism design, it consider... |
Design and Testing of a Flexure-Based XYZ Micropositioner with High Space-Utilization Efficiency | https://ieeexplore.ieee.org/document/10341380/ | [
"Zekui Lyu",
"Qingsong Xu",
"Zekui Lyu",
"Qingsong Xu"
]
| The flexure-based XYZ micropositioner with hybrid configuration has become more prevalent due to the characteristics of less mechanism decoupling and high motion precision. However, traditional mechanism design suffers from a large plane occupation with Z stage stacking, which leads to a low space-utilization efficiency. To address this issue, a novel conceptual design is proposed in this paper by... |
Design and Development of a Deformable In-Pipe Inspection Robot for Various Diameter Pipes | https://ieeexplore.ieee.org/document/10341512/ | [
"Huafeng Xu",
"Jiannong Cao",
"Zhiqin Cheng",
"Zhixuan Liang",
"Jinlin Chen",
"Huafeng Xu",
"Jiannong Cao",
"Zhiqin Cheng",
"Zhixuan Liang",
"Jinlin Chen"
]
| Pipelines have become one of the most important infrastructures in the city. Over time, they are prone to aging, cracks, corrosion, and the demand for regular inspection is gradually increasing. Robotic solutions are effective methods for in-pipe inspection. However, existing In-pipe Inspection Robots (IPIR) require that the inner diameter of the pipe is fixed in the application scenarios, and nee... |
A Bioinspired Underactuated Dual Tendon-Based Adaptive Gripper for Space Applications | https://ieeexplore.ieee.org/document/10342142/ | [
"Hamid Isakhani",
"Samia Nefti-Meziani",
"Steve Davis",
"Helya Isakhani",
"Hamid Isakhani",
"Samia Nefti-Meziani",
"Steve Davis",
"Helya Isakhani"
]
| Hands are one of the most intricate elements of a humanoid due to their role as end-effectors interacting with their non-linear surrounding environment. This paper aims to present the design of a bioinspired underactuated robotic hand with an improved dexterity that is capable of adaptive grasping and manipulation of a wide-range of objects using a dual-tendon mechanism. The proposed design is foc... |
Parallel-Jaw Gripper and Grasp Co-Optimization for Sets of Planar Objects | https://ieeexplore.ieee.org/document/10342241/ | [
"Rebecca H. Jiang",
"Neel Doshi",
"Ravi Gondhalekar",
"Alberto Rodriguez",
"Rebecca H. Jiang",
"Neel Doshi",
"Ravi Gondhalekar",
"Alberto Rodriguez"
]
| We propose a framework for optimizing a planar parallel-jaw gripper for use with multiple objects. While optimizing general-purpose grippers and contact locations for grasps are both well studied, co-optimizing grasps and the gripper geometry to execute them receives less attention. As such, our framework synthesizes grippers optimized to stably grasp sets of polygonal objects. Given a fixed numbe... |
Inertial Propulsion Robot Using the Shape Characteristics of a Streamlined Body Frame | https://ieeexplore.ieee.org/document/10342508/ | [
"Masatsugu Nishihara",
"Fumihiko Asano",
"Masatsugu Nishihara",
"Fumihiko Asano"
]
| We have been investigating a crawling-like loco-motion robot to make it efficiently slide forward based on a simple system and control mechanisms on a slippery level surface, where the motion of the center of mass plays an important role. In this paper, we induce an effective motion of the center of mass considering a streamlined body shape of a locomotion robot in which a pendulum is installed. F... |
Two-Stage Trajectory-Tracking Control of Cable-Driven Upper-Limb Exoskeleton Robots with Series Elastic Actuators: A Simple, Accurate, and Force-Sensorless Method | https://ieeexplore.ieee.org/document/10342056/ | [
"Yana Shu",
"Yu Chen",
"Xuan Zhang",
"Shisheng Zhang",
"Gong Chen",
"Jing Ye",
"Xiang Li",
"Yana Shu",
"Yu Chen",
"Xuan Zhang",
"Shisheng Zhang",
"Gong Chen",
"Jing Ye",
"Xiang Li"
]
| The advantages of cable-driven exoskeleton robots with series elastic actuators can be summarized in twofold: 1) the inertia of the robot joint is relatively low, which is more friendly for human-robot interaction; 2) the elastic element is tolerant to impacts and hence provides structural safety. As trade-offs, the overall dynamic model of such a system is of high order and subject to both unmode... |
A Retractable Soft Growing Robot with a Flexible Backbone | https://ieeexplore.ieee.org/document/10342214/ | [
"Xinyi Pi",
"Isabella A. Szczech",
"Lin Cao",
"Xinyi Pi",
"Isabella A. Szczech",
"Lin Cao"
]
| Soft-growing robots are emerging with numerous potential applications because of their superior capability of frictionless navigation. However, their success is hindered by their tendency to buckle under the tension required to retract them via inversion. In this paper, we propose a simple and scalable tubular backbone to facilitate retracting the robot body without buckling. With this backbone, c... |
CurveQuad: A Centimeter-Scale Origami Quadruped that Leverages Curved Creases to Self-Fold and Crawl with One Motor | https://ieeexplore.ieee.org/document/10342339/ | [
"Daniel Feshbach",
"Xuelin Wu",
"Satviki Vasireddy",
"Louis Beardell",
"Bao To",
"Yuliy Baryshnikov",
"Cynthia Sung",
"Daniel Feshbach",
"Xuelin Wu",
"Satviki Vasireddy",
"Louis Beardell",
"Bao To",
"Yuliy Baryshnikov",
"Cynthia Sung"
]
| We present CurveQuad, a miniature curved origami quadruped that is able to self-fold and unfold, crawl, and steer, all using a single actuator. CurveQuad is designed for planar manufacturing, with parts that attach and stack sequentially on a flat body. The design uses 4 curved creases pulled by 2 pairs of tendons from opposite ends of a link on a 270°servo. It is 8 cm in the longest direction and... |
A Pendulum-Driven Legless Rolling Jumping Robot | https://ieeexplore.ieee.org/document/10342513/ | [
"Jake Buzhardt",
"Prashanth Chivkula",
"Phanindra Tallapragada",
"Jake Buzhardt",
"Prashanth Chivkula",
"Phanindra Tallapragada"
]
| In this paper, we present a novel rolling, jumping robot. The robot consists of a driven pendulum mounted to a wheel in a compact, lightweight, 3D printed design. We show that by driving the pendulum to shift the robot's weight distribution, the robot is able to obtain significant rolling speed, achieve jumps of up to 2.5 body lengths vertically, and clear horizontal distances of over 6 body lengt... |
Vine Robot Localization Via Collision | https://ieeexplore.ieee.org/document/10342238/ | [
"Eugenio Frias-Miranda",
"Alankriti Srivastava",
"Sicheng Wang",
"Laura H. Blumenschein",
"Eugenio Frias-Miranda",
"Alankriti Srivastava",
"Sicheng Wang",
"Laura H. Blumenschein"
]
| Localization of robots is a complex task that is often hindered by the sensors these systems use. Due to the majority of field robots being rigid, most of these sensing modalities have the same common faults, such as performance being hindered when their camera vision is obscured. In addition, rigid systems lack flexibility when traversing multiple environments: especially when traversing uneven a... |
Mapping Unknown Environments through Passive Deformation of Soft, Growing Robots | https://ieeexplore.ieee.org/document/10341705/ | [
"Francesco Fuentes",
"Laura H. Blumenschein",
"Francesco Fuentes",
"Laura H. Blumenschein"
]
| When faced with an unstructured environment filled with an unknown number and size of obstacles on a chaotic terrain, it can be a challenge to determine the best method for navigating and mapping the space. This problem, known as Simultaneous Localization and Mapping (SLAM), has typically been approached using vision-based solutions, but these solutions require clear visual conditions in order to ... |
Stable Real-Time Feedback Control of a Pneumatic Soft Robot | https://ieeexplore.ieee.org/document/10342212/ | [
"Sean Even",
"Tongjia Zheng",
"Hai Lin",
"Yasemin Ozkan-Aydin",
"Sean Even",
"Tongjia Zheng",
"Hai Lin",
"Yasemin Ozkan-Aydin"
]
| Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite degrees of freedom (DoF), and their mechanical properties can change by unknown external loads. Existing works mainly relied on discretization and reduction, suffer... |
Real2Sim2Real Transfer for Control of Cable-Driven Robots Via a Differentiable Physics Engine | https://ieeexplore.ieee.org/document/10341811/ | [
"Kun Wang",
"William R. Johnson",
"Shiyang Lu",
"Xiaonan Huang",
"Joran Booth",
"Rebecca Kramer-Bottiglio",
"Mridul Aanjaneya",
"Kostas Bekris",
"Kun Wang",
"William R. Johnson",
"Shiyang Lu",
"Xiaonan Huang",
"Joran Booth",
"Rebecca Kramer-Bottiglio",
"Mridul Aanjaneya",
"Kostas Bekris"
]
| Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terrains and survive harsh impacts. They are hard to control, however, due to high dimensionality, complex dynamics, and a coupled architecture. Physics-based simulation is a promising avenue for developing locomotion policie... |
Multi-Gait Locomotion Planning and Tracking for Tendon-Actuated Terrestrial Soft Robot (TerreSoRo) | https://ieeexplore.ieee.org/document/10341926/ | [
"Arun Niddish Mahendran",
"Caitlin Freeman",
"Alexander H. Chang",
"Michael McDougall",
"Patricio A. Vela",
"Vishesh Vikas",
"Arun Niddish Mahendran",
"Caitlin Freeman",
"Alexander H. Chang",
"Michael McDougall",
"Patricio A. Vela",
"Vishesh Vikas"
]
| The adaptability of soft robots makes them ideal candidates to maneuver through unstructured environments. However, locomotion challenges arise due to complexities in modeling the body mechanics, actuation, and robot-environment dynamics. These factors contribute to the gap between their potential and actual autonomous field deployment. A closed-loop path planning framework for soft robot locomoti... |
Learning Soft Robot Dynamics Using Differentiable Kalman Filters and Spatio-Temporal Embeddings | https://ieeexplore.ieee.org/document/10341856/ | [
"Xiao Liu",
"Shuhei Ikemoto",
"Yuhei Yoshimitsu",
"Heni Ben Amor",
"Xiao Liu",
"Shuhei Ikemoto",
"Yuhei Yoshimitsu",
"Heni Ben Amor"
]
| This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal behavior of the robot. A novel spatio-temporal embedding process is discussed to handle observations with varying sensor placements and sampling frequencies. T... |
Closed Loop Control of Tendon Driven Continuum Robots Using IMUs | https://ieeexplore.ieee.org/document/10342138/ | [
"Manu Srivastava",
"Richard Groff",
"Ian D. Walker",
"Manu Srivastava",
"Richard Groff",
"Ian D. Walker"
]
| In this paper, we present a new approach to the control of continuum robot sections using IMU quaternion feedback. We use a discrete time root finding algorithm to steer a continuum section in the desired shape space direction. We found that the approach lacks end effector positioning accuracy when used by itself, however, when used in conjunction with a feedforward model it actively counters the ... |
Machine Learning Best Practices for Soft Robot Proprioception | https://ieeexplore.ieee.org/document/10342379/ | [
"Annan Zhang",
"Tsun-Hsuan Wang",
"Ryan L. Truby",
"Lillian Chin",
"Daniela Rus",
"Annan Zhang",
"Tsun-Hsuan Wang",
"Ryan L. Truby",
"Lillian Chin",
"Daniela Rus"
]
| Machine learning-based approaches for soft robot proprioception have recently gained popularity, in part due to the difficulties in modeling the relationship between sensor signals and robot shape. However, to date, there exists no systematic analysis of the required design choices to set up a machine learning pipeline for soft robot proprioception. Here, we present the first study examining how d... |
Active Capsule System for Multiple Therapeutic Patch Delivery: Preclinical Evaluation | https://ieeexplore.ieee.org/document/10341491/ | [
"Jihun Lee",
"Hoang Manh Cuong",
"Jayoung Kim",
"Eunho Choi",
"Hyeonwoo Kee",
"Seungun Yang",
"Jong-Oh Park",
"Sukho Park",
"Jihun Lee",
"Hoang Manh Cuong",
"Jayoung Kim",
"Eunho Choi",
"Hyeonwoo Kee",
"Seungun Yang",
"Jong-Oh Park",
"Sukho Park"
]
| Recently, active research has been conducted on the therapeutic functions of capsule endoscopes. Here, we propose an active capsule system that captures images of the interior of the gastrointestinal tract (GI) and actively delivers therapeutic patches. The active capsule system mainly comprises therapeutic patches, an active capsule equipped with a camera, and a robot-assisted magnetic actuator. ... |
Parallel Cell Array Patterning and Target Cell Lysis on an Optoelectronic Micro-Well Device | https://ieeexplore.ieee.org/document/10341701/ | [
"Chunyuan Gan",
"Hongyi Xiong",
"Jiawei Zhao",
"Ao Wang",
"Chutian Wang",
"Shuzhang Liang",
"Jiaying Zhang",
"Lin Feng",
"Chunyuan Gan",
"Hongyi Xiong",
"Jiawei Zhao",
"Ao Wang",
"Chutian Wang",
"Shuzhang Liang",
"Jiaying Zhang",
"Lin Feng"
]
| This work presents a novel electrical method, implemented in the form of a microfluidic device, for cell arraying and target cell lysis. The microfluidic device contains a micro-well array on the photoconductive layer based on the optoelectronic tweezers (OET) method, where parallel cell manipulation is performed. As cell suspension flows over the micro-wells, cells can be actively captured in the... |
Microrobot Control Method Based on Movement of Field Free Point in Gradient Magnetic Field | https://ieeexplore.ieee.org/document/10341642/ | [
"Chutian Wang",
"Yiming Ji",
"Xinyun Luo",
"Chunyuan Gan",
"Jiapeng Yang",
"Jiawei Zhao",
"Luyao Wang",
"Lin Feng",
"Chutian Wang",
"Yiming Ji",
"Xinyun Luo",
"Chunyuan Gan",
"Jiapeng Yang",
"Jiawei Zhao",
"Luyao Wang",
"Lin Feng"
]
| The untethered microrobots driven by multiple external physics fields have promising ability in minimally invasive disease treatments. One common type of the driving fields is gradient magnetic field, which can provide microrobots with adequate driving force in complicated environment. In this study, a control method of microrobot through gradient magnetic field system is presented, which is reali... |
Helical Propulsion in Low-Re Numbers with Near-Zero Angle of Attack | https://ieeexplore.ieee.org/document/10341627/ | [
"Leendert-Jan W. Ligtenberg",
"Ilse A. A. Ekkelkamp",
"Frank R. Halfwerk",
"Constantinos Goulas",
"Jutta Arens",
"Michiel Warlé",
"Islam S. M. Khalil",
"Leendert-Jan W. Ligtenberg",
"Ilse A. A. Ekkelkamp",
"Frank R. Halfwerk",
"Constantinos Goulas",
"Jutta Arens",
"Michiel Warlé",
"Islam S. M. Khalil"
]
| One approach to the wireless actuation and gravity compensation of untethered helical magnetic devices (UHMD) is through swimming with a non-zero angle of attack (AoA). This configuration allows us to counteract gravity, so that for a given desired path, we can move the UHMD controllably without drifting downward under its own weight. This study seeks to investigate the use a reduced-order model o... |
Influence of Nanoparticle Coating on the Differential Magnetometry and Wireless Actuation of Biohybrid Microrobots | https://ieeexplore.ieee.org/document/10341258/ | [
"Veronika Magdanz",
"Jack R. Cumming",
"Sadaf Salamzadeh",
"Sven Tesselaar",
"Lejla Alic",
"Leon Abelmann",
"Islam S. M. Khalil",
"Veronika Magdanz",
"Jack R. Cumming",
"Sadaf Salamzadeh",
"Sven Tesselaar",
"Lejla Alic",
"Leon Abelmann",
"Islam S. M. Khalil"
]
| Magnetic nanoparticles can be electrostatically assembled around sperm cells to form biohybrid micro robots. These biohybrid microrobots possess sufficient magnetic material to potentially allow for pulse-echo localization and wireless actuation. Alternatively, magnetic excitation of these nanoparticles can be used for localization based on Faraday's law of induction using a detection coil. Here, ... |
Using Piezoceramic-Actuated Stages in Precision Long-Stroke Motion Systems: A Design Procedure | https://ieeexplore.ieee.org/document/10342314/ | [
"Yazan M. Al-Rawashdeh",
"Mohammad Al Saaideh",
"Mohammad Al Janaideh",
"Yazan M. Al-Rawashdeh",
"Mohammad Al Saaideh",
"Mohammad Al Janaideh"
]
| Mainly, the integration of fine positioning piezo-actuated stages in precision motion systems is considered, which results in multi-stage configurations. Mostly, in such configurations, the fine stages are attached to the coarse positioning stages- that do not meet required precision- by mechanical means. Once the motion is synchronized, the fine stages enhance the overall precision of the multi-s... |
Buoyancy Enabled Non-Inertial Dynamic Walking | https://ieeexplore.ieee.org/document/10341582/ | [
"Mark Yim",
"Walker Gosrich",
"Marc Miskin",
"Mark Yim",
"Walker Gosrich",
"Marc Miskin"
]
| We propose a mechanism for low Reynolds num-ber walking (e.g., legged microscale robots). Whereas locomotion for legged robots has traditionally been classified as dynamic (where inertia plays a role) or static (where the system is always statically stable), we introduce a new locomotion modality we call buoyancy enabled non-inertial dynamic walking in which inertia plays no role, yet the robot is... |
Ultrafast Acoustic Holography with Physics-Reinforced Self-Supervised Learning for Precise Robotic Manipulation | https://ieeexplore.ieee.org/document/10341483/ | [
"Qingyi Lu",
"Chengxi Zhong",
"Qing Liu",
"Teng Li",
"Hu Su",
"Song Liu",
"Qingyi Lu",
"Chengxi Zhong",
"Qing Liu",
"Teng Li",
"Hu Su",
"Song Liu"
]
| Ultrafast acoustic holography (AH) enabling dynamic contactless micro-nano robotic manipulation has recently attracted wide attention. As an advanced technique, AH encodes specific three-dimensional (3D) acoustic field on a two-dimensional (2D) hologram whereby realizing holographic reconstruction with high fidelity. However, current approaches face the limitation of encoding time, accuracy and fl... |
Surface Navigation of Alginate Artificial Cells in Mucus Solutions | https://ieeexplore.ieee.org/document/10342232/ | [
"Louis William Rogowski",
"Justin Wood",
"Tobias Cooke",
"Gokhan Kararsiz",
"Min Jun Kim",
"Louis William Rogowski",
"Justin Wood",
"Tobias Cooke",
"Gokhan Kararsiz",
"Min Jun Kim"
]
| Alginate hydrogels are widely researched in phar-maceutical applications for their abilities to encapsulate and dis-perse therapeutics in response to stimuli. While effective, their utility can be greatly improved once converted into artificial cell soft-microrobots, allowing them to actively navigate through complex in vivo environments and facilitate targeted drug deliv-ery. In this study, artif... |
Design and Control of Microscale Dual Locomotion Mode Multi-Functional Robots (μDMMFs) | https://ieeexplore.ieee.org/document/10341659/ | [
"Aaron C. Davis",
"David J. Cappelleri",
"Aaron C. Davis",
"David J. Cappelleri"
]
| This paper presents the design and control of a novel microrobot that utilizes two distinct magnetic locomotion methods, a combination of rotating and gradient field control, for precise micro-object manipulation using multiple end-effectors. Rotating magnetic fields induce a tumbling locomotion mode to increase the movement speed and decrease issues associated with stiction and locomotion over ro... |
A New 1-mg Fast Unimorph SMA-Based Actuator for Microrobotics | https://ieeexplore.ieee.org/document/10342518/ | [
"Conor K. Trygstad",
"Xuan-Truc Nguyen",
"Néstor O. Pérez-Arancibia",
"Conor K. Trygstad",
"Xuan-Truc Nguyen",
"Néstor O. Pérez-Arancibia"
]
| We present a new unimorph actuator for micro-robotics, which is driven by thin shape-memory alloy (SMA) wires. Using a passive-capillary-alignment technique and existing SMA-microsystem fabrication methods, we developed an actuator that is 7 mm long, has a volume of 0.45 mm3, weighs 0.96 mg, and can achieve operation frequencies of up to 40 Hz as well as lift 155 times its own weight. To demonstra... |
Toward Sub-Gram Helicopters: Designing a Miniaturized Flybar for Passive Stability | https://ieeexplore.ieee.org/document/10342256/ | [
"Kyle Johnson",
"Vicente Arroyos",
"Raul Villanueva",
"Adriana Schulz",
"Sawyer Fuller",
"Vikram Iyer",
"Kyle Johnson",
"Vicente Arroyos",
"Raul Villanueva",
"Adriana Schulz",
"Sawyer Fuller",
"Vikram Iyer"
]
| Sub-gram flying robots have transformative potential in applications from search and rescue to precision agriculture to environmental monitoring. However, a key gap in achieving autonomous flight for these applications is the low lift to weight ratio of flapping wing and quadrotor designs around 1 g or less. To close this gap, we propose a helictoper-style design that minimizes size and weight by ... |
Manipulation of Optical Force-Induced Micro-Assemblies at the Air-Liquid Interface | https://ieeexplore.ieee.org/document/10341939/ | [
"Nicholas Carlisle",
"Martin A.K. Williams",
"Catherine P. Whitby",
"Volker Nock",
"Jack L.Y. Chen",
"Ebubekir Avci",
"Nicholas Carlisle",
"Martin A.K. Williams",
"Catherine P. Whitby",
"Volker Nock",
"Jack L.Y. Chen",
"Ebubekir Avci"
]
| Colloidal particles trapped by a focused laser at the air-liquid interface provide an interesting assembly dynamic. In this study, we demonstrated manipulating optical force-induced swarms via dynamic locomotion of assemblies built with holographic optical tweezers. This manipulation approach builds the foundation for autonomous control of building assemblies at the air-liquid interface, which is ... |
Creating a Dynamic Quadrupedal Robotic Goalkeeper with Reinforcement Learning | https://ieeexplore.ieee.org/document/10341936/ | [
"Xiaoyu Huang",
"Zhongyu Li",
"Yanzhen Xiang",
"Yiming Ni",
"Yufeng Chi",
"Yunhao Li",
"Lizhi Yang",
"Xue Bin Peng",
"Koushil Sreenath",
"Xiaoyu Huang",
"Zhongyu Li",
"Yanzhen Xiang",
"Yiming Ni",
"Yufeng Chi",
"Yunhao Li",
"Lizhi Yang",
"Xue Bin Peng",
"Koushil Sreenath"
]
| We present a reinforcement learning (RL) framework that enables quadrupedal robots to perform soccer goalkeeping tasks in the real world. Soccer goalkeeping with quadrupeds is a challenging problem, that combines highly dynamic locomotion with precise and fast non-prehensile object (ball) manipulation. The robot needs to react to and intercept a potentially flying ball using dynamic locomotion man... |
Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization | https://ieeexplore.ieee.org/document/10341896/ | [
"Qiayuan Liao",
"Zhongyu Li",
"Akshay Thirugnanam",
"Jun Zeng",
"Koushil Sreenath",
"Qiayuan Liao",
"Zhongyu Li",
"Akshay Thirugnanam",
"Jun Zeng",
"Koushil Sreenath"
]
| This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To tackle this, we introduce exponential Discrete Control Barrier Functions (exponential DCBFs) with duality-based obstacle avoidance constraints into a Non-linear Model Predictive Control (NMPC) with Whole-Body Control (W... |
ARMP: Autoregressive Motion Planning for Quadruped Locomotion and Navigation in Complex Indoor Environments | https://ieeexplore.ieee.org/document/10341389/ | [
"Jeonghwan Kim",
"Tianyu Li",
"Sehoon Ha",
"Jeonghwan Kim",
"Tianyu Li",
"Sehoon Ha"
]
| Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for quadruped locomotion and navigation. Our method can generate motion plans with an arbitrary length in an autore-gressive fashion, unlike most offline trajectory optimi... |
Perceptive Hexapod Legged Locomotion for Climbing Joist Environments | https://ieeexplore.ieee.org/document/10341957/ | [
"Zixian Zang",
"Maxime Kawawa-Beaudan",
"Wenhao Yu",
"Tingnan Zhang",
"Avideh Zakhor",
"Zixian Zang",
"Maxime Kawawa-Beaudan",
"Wenhao Yu",
"Tingnan Zhang",
"Avideh Zakhor"
]
| Attics are one of the largest sources of energy loss in residential homes, but they are uncomfortable and dangerous for human workers to conduct air sealing and insulation. Hexapod robots are potentially suitable for carrying out those tasks in tight attic spaces since they are stable, compact, and lightweight. For hexapods to succeed in these tasks, they must be able to navigate inside tight atti... |
Design of STARQ: A Multimodal Quadrupedal Robot for Running, Climbing, and Swimming | https://ieeexplore.ieee.org/document/10342423/ | [
"Derek A. Vasquez",
"David Jay",
"Michael Dina",
"Max Austin",
"Shayne McConomy",
"Jonathan E. Clark",
"Derek A. Vasquez",
"David Jay",
"Michael Dina",
"Max Austin",
"Shayne McConomy",
"Jonathan E. Clark"
]
| Legged animals have developed a variety of modes of locomotion to adapt to the diverse and unknown terrain challenges posed in the natural world. Legged robots, however, have been largely limited to specializing in one domain, with few that have endeavored to bridge the gap between two. In this work we present the Scansorial, Terrestrial, and Aquatic Robot Quadruped (STARQ), a novel legged robot c... |
Hierarchical Adaptive Control for Collaborative Manipulation of a Rigid Object by Quadrupedal Robots | https://ieeexplore.ieee.org/document/10341700/ | [
"Mohsen Sombolestan",
"Quan Nguyen",
"Mohsen Sombolestan",
"Quan Nguyen"
]
| Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative manipulation tasks, including uncertainties arising from object properties, shape, and terrain. Our approach consists of three levels of controllers. Firstly, an adapt... |
Proprioception and Reaction for Walking Among Entanglements | https://ieeexplore.ieee.org/document/10341986/ | [
"Justin K. Yim",
"Jiming Ren",
"David Ologan",
"Selvin Garcia Gonzalez",
"Aaron M. Johnson",
"Justin K. Yim",
"Jiming Ren",
"David Ologan",
"Selvin Garcia Gonzalez",
"Aaron M. Johnson"
]
| Entanglements like vines and branches in natural settings or cords and pipes in human spaces prevent mobile robots from accessing many environments. Legged robots should be effective in these settings, and more so than wheeled or tracked platforms, but naive controllers quickly become entangled and stuck. In this paper we present a method for proprioception aimed specifically at the task of sensin... |
Learning a Single Policy for Diverse Behaviors on a Quadrupedal Robot Using Scalable Motion Imitation | https://ieeexplore.ieee.org/document/10341709/ | [
"Arnaud Klipfel",
"Nitish Sontakke",
"Ren Liu",
"Sehoon Ha",
"Arnaud Klipfel",
"Nitish Sontakke",
"Ren Liu",
"Sehoon Ha"
]
| Learning various motor skills for quadrupedal robots is a challenging problem that requires careful design of task-specific mathematical models or reward descriptions. In this work, we propose to learn a single capable policy using deep reinforcement learning by imitating a large number of reference motions, including walking, turning, pacing, jumping, sitting, and lying. On top of the existing mo... |
A Novel Lockable Spring-Loaded Prismatic Spine to Support Agile Quadrupedal Locomotion | https://ieeexplore.ieee.org/document/10341427/ | [
"Keran Ye",
"Kenneth Chung",
"Konstantinos Karydis",
"Keran Ye",
"Kenneth Chung",
"Konstantinos Karydis"
]
| This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine module, together with a new Spinal Compliance-Integrated Quadruped (SCIQ) platform for both empirical and numerical research. Individual spine tests reveal beneficial spinal characteristics like a degressive spring, and ... |
Efficient Path Planning In Manipulation Planning Problems by Actively Reusing Validation Effort | https://ieeexplore.ieee.org/document/10341264/ | [
"Valentin N. Hartmann",
"Joaquim Ortiz-Haro",
"Marc Toussaint",
"Valentin N. Hartmann",
"Joaquim Ortiz-Haro",
"Marc Toussaint"
]
| The path planning problems arising in manipulation planning and in task and motion planning settings are typically repetitive: the same manipulator moves in a space that only changes slightly. Despite this potential for reuse of information, few planners fully exploit the available information. To better enable this reuse, we decompose the collision checking into reusable, and non-reusable parts. ... |
Improving Reliable Navigation Under Uncertainty via Predictions Informed by Non-Local Information | https://ieeexplore.ieee.org/document/10342276/ | [
"Raihan Islam Arnob",
"Gregory J. Stein",
"Raihan Islam Arnob",
"Gregory J. Stein"
]
| We improve reliable, long-horizon, goal-directed navigation in partially-mapped environments by using nonlocally available information to predict the goodness of temporally-extended actions that enter unseen space. Making predictions about where to navigate in general requires nonlocal information: any observations the robot has seen so far may provide information about the goodness of a particula... |
TOP-UAV: Open-Source Time-Optimal Trajectory Planner for Point-Masses Under Acceleration and Velocity Constraints | https://ieeexplore.ieee.org/document/10342270/ | [
"Fabian Meyer",
"Katharina Glock",
"David Sayah",
"Fabian Meyer",
"Katharina Glock",
"David Sayah"
]
| In the latest research for unmanned aerial vehicles (UAVs), time-optimal trajectory planning of a point-mass with acceleration as control input and constrained maximum velocity (TOT-PMAV) has proved to be very promising for UAV behavior planning. They can be calculated within microseconds and tracked with high precision by modern trajectory tracking controllers like model predictive control (MPC).... |
Fast Asymptotically Optimal Path Planning in Dynamic, Uncertain Environments | https://ieeexplore.ieee.org/document/10341928/ | [
"Lu Huang",
"Xingjian Jing",
"Lu Huang",
"Xingjian Jing"
]
| This paper presents Fast Adaptive Tree (FAT), an asymptotically-optimal sampling-based path planner for dynamic and uncertain scenarios. Namely, the solution extracted converges to the optimal solution given the sensor information as the number of samples approaches infinity. The planner maintains an underlying graph, which increasingly approximates the search domain, and a dynamic spanning tree o... |
An Efficient Trajectory Planner for Car-Like Robots on Uneven Terrain | https://ieeexplore.ieee.org/document/10341558/ | [
"Long Xu",
"Kaixin Chai",
"Zhichao Han",
"Hong Liu",
"Chao Xu",
"Yanjun Cao",
"Fei Gao",
"Long Xu",
"Kaixin Chai",
"Zhichao Han",
"Hong Liu",
"Chao Xu",
"Yanjun Cao",
"Fei Gao"
]
| Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with the dynamics model of the robot associated with the terrain. The trajectories generated by existing methods are often too conservative or cannot be tracked well b... |
Robots as AI Double Agents: Privacy in Motion Planning | https://ieeexplore.ieee.org/document/10341460/ | [
"Rahul Shome",
"Zachary Kingston",
"Lydia E. Kavraki",
"Rahul Shome",
"Zachary Kingston",
"Lydia E. Kavraki"
]
| Robotics and automation are poised to change the landscape of home and work in the near future. Robots are adept at deliberately moving, sensing, and interacting with their environments. The pervasive use of robotics promises societal and economic payoffs due to its capabilities—conversely, the capabilities of robots to move within and sense the world around them is susceptible to abuse. Robots, u... |
Bang-Bang Boosting of RRTs | https://ieeexplore.ieee.org/document/10341760/ | [
"Alexander J. La Valle",
"Basak Sakcak",
"Steven M. LaValle",
"Alexander J. La Valle",
"Basak Sakcak",
"Steven M. LaValle"
]
| This paper presents methods for dramatically improving the performance of sampling-based kinodynamic planners. The key component is a complete, exact steering method that produces a time-optimal trajectory between any states for a vector of synchronized double integrators. This method is applied in three ways: 1) to generate RRT edges that quickly solve the two-point boundary-value problems, 2) to... |
Geometric Gait Optimization for Inertia-Dominated Systems with Nonzero Net Momentum | https://ieeexplore.ieee.org/document/10342211/ | [
"Yanhao Yang",
"Ross L. Hatton",
"Yanhao Yang",
"Ross L. Hatton"
]
| Inertia-dominated mechanical systems can achieve net displacement by 1) periodically changing their shape (known as kinematic gait) and 2) adjusting their inertia distribution to utilize the existing nonzero net momentum (known as momentum gait). Therefore, finding the gait that most effectively utilizes the two types of locomotion in terms of the magnitude of the net momentum is a significant top... |
Real-Time Tube-Based Non-Gaussian Risk Bounded Motion Planning for Stochastic Nonlinear Systems in Uncertain Environments via Motion Primitives | https://ieeexplore.ieee.org/document/10342429/ | [
"Weiqiao Han",
"Ashkan Jasour",
"Brian Williams",
"Weiqiao Han",
"Ashkan Jasour",
"Brian Williams"
]
| We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains multiple dynamic uncertain obstacles. Obstacles can be of arbitrary shape, can deform, and can move. All uncertainties do not necessarily have Gaussian distributi... |
Learning Bifunctional Push-Grasping Synergistic Strategy for Goal-Agnostic and Goal-Oriented Tasks | https://ieeexplore.ieee.org/document/10342533/ | [
"Dafa Ren",
"Shuang Wu",
"Xiaofan Wang",
"Yan Peng",
"Xiaoqiang Ren",
"Dafa Ren",
"Shuang Wu",
"Xiaofan Wang",
"Yan Peng",
"Xiaoqiang Ren"
]
| Both goal-agnostic and goal-oriented tasks have practical value for robotic grasping: goal-agnostic tasks target all objects in the workspace, while goal-oriented tasks aim at grasping pre-assigned goal objects. However, most current grasping methods are only better at coping with one task. In this work, we propose a bifunctional push-grasping synergistic strategy for goal-agnostic and goal-orient... |
Domain Adaptation on Point Clouds for 6D Pose Estimation in Bin-Picking Scenarios | https://ieeexplore.ieee.org/document/10341920/ | [
"Liang Zhao",
"Meng Sun",
"Wei Jie Lv",
"Xin Yu Zhang",
"Long Zeng",
"Liang Zhao",
"Meng Sun",
"Wei Jie Lv",
"Xin Yu Zhang",
"Long Zeng"
]
| Training with simulated data is a common approach in pose estimation research. However, a sim-to-real gap between clean simulated data and noisy real data will seriously weaken the generalization ability of the algorithm, especially for point clouds. To address this problem, this paper proposes a domain adaptive pose estimation network (DAPE-Net). For the feature extracted from the backbone, the n... |
Learning Robotic Powder Weighing from Simulation for Laboratory Automation | https://ieeexplore.ieee.org/document/10342463/ | [
"Yuki Kadokawa",
"Masashi Hamaya",
"Kazutoshi Tanaka",
"Yuki Kadokawa",
"Masashi Hamaya",
"Kazutoshi Tanaka"
]
| This study focuses on a robotic powder weighing task used in laboratory automation. In this task, a robot weighs a certain amount of powder with a milligram-level target mass using a dispensing spoon. The complex dynamics of the powder, the variations in the materials being weighed, and the need to balance conservative and aggressive actions are significant challenges in the robotics field. Theref... |
Constrained Generative Sampling of 6-DoF Grasps | https://ieeexplore.ieee.org/document/10341344/ | [
"Jens Lundell",
"Francesco Verdoja",
"Tran Nguyen Le",
"Arsalan Mousavian",
"Dieter Fox",
"Ville Kyrki",
"Jens Lundell",
"Francesco Verdoja",
"Tran Nguyen Le",
"Arsalan Mousavian",
"Dieter Fox",
"Ville Kyrki"
]
| Most state-of-the-art data-driven grasp sampling methods propose stable and collision-free grasps uniformly on the target object. For bin-picking, executing any of those reachable grasps is sufficient. However, for completing specific tasks, such as squeezing out liquid from a bottle, we want the grasp to be on a specific part of the object's body while avoiding other locations, such as the cap. T... |
RGBD Fusion Grasp Network with Large-Scale Tableware Grasp Dataset | https://ieeexplore.ieee.org/document/10341357/ | [
"Jaemin Yoon",
"Joonmo Ahn",
"Changsu Ha",
"Rakjoon Chung",
"Dongwoo Park",
"Heungwoo Han",
"Sungchul Kang",
"Jaemin Yoon",
"Joonmo Ahn",
"Changsu Ha",
"Rakjoon Chung",
"Dongwoo Park",
"Heungwoo Han",
"Sungchul Kang"
]
| This paper proposes a novel approach to address the technical challenges of stable object grasping, particularly in the context of handling tableware in a home environment. Handling tableware is particularly important, yet challenging, due to the flat nature of most tableware objects and the need to maintain a stable posture to prevent spills. To address these challenges, we present three key cont... |
One-Shot Affordance Learning (OSAL): Learning to Manipulate Articulated Objects by Observing Once | https://ieeexplore.ieee.org/document/10341421/ | [
"Ruomeng Fan",
"Taohan Wang",
"Masahiro Hirano",
"Yuji Yamakawa",
"Ruomeng Fan",
"Taohan Wang",
"Masahiro Hirano",
"Yuji Yamakawa"
]
| We present One-Shot Affordance Learning (OSAL): a unified pipeline that learns manipulation for articulated objects by observing human demonstration only once. The key idea of our method is to embody affordance of articulated objects with an open-loop trajectory conditioned on a certain area of the object's surface. It serves as a simplified object-centric manipulation representation, which can be... |
EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation | https://ieeexplore.ieee.org/document/10341988/ | [
"Baichuan Huang",
"Jingjin Yu",
"Siddarth Jain",
"Baichuan Huang",
"Jingjin Yu",
"Siddarth Jain"
]
| In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-based robotic grasping methods implicitly assume target objects are stationary or moving predictably. Performing grasping of unpredictably moving objects presents a unique set of challenges. For example, a pre-computed robu... |
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