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Maximising Tolerance to Disturbances via Combined Control-Actuation Optimisation for Robust Humanoid robot Walking

IEEE robotICS AND AUTOMATION LETTERS 2025年第5期10卷 4348-4355页

作者： Sathuluri, Akhil Sartore, Carlotta Dafarra, Stefano Traversaro, Silvio Zimmermann, Markus Pucci, Daniele Tech Univ Munich TUM Sch Engn & Design Lab Prod Dev & Lightweight Design Robot Syst Grp D-80333 Munich Germany Ctr Robot Technol Inst Italiano Technol Artificial & Mech Intelligence I-16163 Genoa Italy

Combined optimisation of various robot subsystems as a co-design problem has been shown to identify performant robots. However, classical optimisation methods result in point-optimum solutions that may not ensure robust performance and physical feasibility, i.e., the existence of components with specifications matching the computed optimum value. To address this problem, we present a set-based robust co-design optimisation strategy to maximise disturbance tolerance. Instead of identifying a single point-optimum solution, a so-called solution space evaluates the combination of the largest design space that delivers the necessary performance while being robust to the largest set of disturbances. The utility of the proposed approach is demonstrated via a computational design study of the ergoCub robot. This study focuses on the robots' walking performance, illustrating (1) improvement in task success considering at least 3 times larger magnitudes of disturbances, (2) identifying a set instead of a point-solution in the design-disturbances space, and (3) improving standardisation of the joint actuation design.

关键词： robots Optimization Legged locomotion Voltage control Motors Aerospace electronics Torque Gears Collision avoidance Humanoid robots Humanoid robot systems optimization and optimal control methods and tools for robot system design

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Orchestrating Method Ensembles to Adapt to Resource Requirements and Constraints During robotic Task Execution

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IEEE robotICS AND AUTOMATION LETTERS 2025年第2期10卷 1186-1193页

作者： Lay, Florian S. Doemel, Andreas Lii, Neal Y. Stulp, Freek German Aerosp Ctr DLR Robot & Mechatron Ctr RM D-82234 Wessling Germany

robot behavior designers commonly select one method - e.g. A* or RRT - that is assumed to have the appropriate trade-off for a given domain between computational load, computation time, and the quality of the result of the method. We propose ensemble orchestration patterns, which evaluate multiple methods, and select the best result, thus exploiting the complementary advantages that alternative methods often have. By implementing different termination, preemption, constraint enforcement and selection schemes, different patterns lead to different (predictable) resource trade-offs. Thus, rather than selecting and committing to only one method, a designer chooses the appropriate pattern and constraints for the desired trade-off, and the pattern then realizes the selection on-line. We apply these patterns to various subtasks that are prevalent in our Surface Avatar ISS Technology Demonstration Mission, such as navigation, motion planning, and registration aswell as to a subtask in the service robotics domain in a simulated experiment. In our evaluation, we demonstrate that these patterns can effectively exploit increased resource budgets or relaxed constraints to find better solutions, and adapt the selection to different situations.

关键词： robots Measurement Ensemble learning Extraterrestrial measurements Service robots Navigation Computational efficiency robot sensing systems Planning Path planning Space robotics and automation methods and tools for robot system design behavior based systems

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Ensuring High Visibility of Passive Markers at Fixed Camera Gain Using Divide and Conquer Method

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IEEE robotICS AND AUTOMATION LETTERS 2024年第11期9卷 9741-9748页

作者： Retinger, Marek Michalski, Jacek Kozierski, Piotr Drapikowski, Pawel Poznan Univ Tech Inst Robot & Machine Intelligence PL-60965 Poznan Poland

The letter presents a novel solution to determine exposure and threshold values for cameras in motion capture systems without excessive interaction with the user. The solution is based on the divide and conquer method, which ensures a fast and efficient search of the values. As the results have shown, users without specialist knowledge can significantly improve the tracking capabilities of the motion capture system, especially for smaller passive markers. The tests have proved that for spherical markers with a diameter of 7.9 mm, the full time tracking capabilities can be ensured based on the settings determined with the proposed method, what is difficult to achieve with the default settings. Moreover, the cameras utilisation can be increased, which should have a positive effect on the overall tracking quality. This makes it possible to use smaller and lighter-weight markers, which is desirable for small flying units with payload capacity of a few grams only. The primary tests were performed in the laboratory equipped with 12 OptiTrack Prime(x) 13W cameras. The dedicated programming interfaces (Motive API and Camera SDK) were used. The validation tests included a DJI Tello EDU unit with four markers attached. In addition to analysis and considerations, the document includes pseudocodes that clearly explain the idea behind the algorithms and allow for an easy implementation of the solution.

关键词： Cameras Indexes robot vision systems Motion capture Tracking Accuracy Software algorithms Visual tracking methods and tools for robot system design motion capture divide and conquer algorithm

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Exploring Human Preferences for Adapting Inappropriate robot Navigation Behaviors: A Mixed-methods Study

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IEEE robotICS AND AUTOMATION LETTERS 2024年第12期9卷 11826-11833页

作者： Zhou, Yunzhong Vroon, Jered Kortuem, Gerd Delft Univ Technol Fac Ind Design Engn NL-2628 CE Delft Netherlands

In social environment navigation, robots inevitably exhibit behaviors that are perceived as inappropriate by humans. Current robots lack the ability to adapt to such human perceptions, leading to repeated inappropriate behaviors. This study employs a mixed-methods approach to explore human-preferred robot adaptations, combining qualitative data from a series of human-robot interactions and a semi-structured interview, and quantitative data from an online survey. 12 participants were recruited to interact with a mobile robot in an indoor setting, reporting 139 instances of inappropriate robot behaviors. The subsequent semi-structured interviews regarding these instances yielded 9 types of inappropriate behaviors and 10 major types of human-preferred robot adaptations, ranging from general ones, such as stopping the motion, to more specific ones, like moving away and then stopping. Additionally, 12 human-preferred adaptations were selected from the interview data and presented to the same participants through an online survey to evaluate their effectiveness in addressing the inappropriate behaviors previously identified. The results reveal the human preference for the robot to move to the side and then stop in most scenarios, which might serve as a general adaptation for addressing inappropriate robot navigation behaviors.

关键词： robots Navigation Presses Human-robot interaction Surveys Protocols Interviews Cameras Service robots robot vision systems Social HRI physical human-robot interaction methods and tools for robot system design human factors and human-in-the-loop

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FastSim: A Modular and Plug-and-Play Simulator for Aerial robots

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IEEE robotICS AND AUTOMATION LETTERS 2024年第6期9卷 5823-5830页

作者： Cui, Can Zhou, Xiaobin Wang, Miao Gao, Fei Xu, Chao Zhejiang Univ Inst Cyber Syst & Control Coll Control Sci & Engn Hangzhou 310027 Peoples R China Zhejiang Univ Huzhou Inst Huzhou 313000 Peoples R China

State-of-the-art robotics simulators are equipped with well-established mapping, planning, and control systems. However, they lack modularity and the convenience of plug-and-play functionality. In this work, we present FastSim, a high-fidelity and user-friendly simulation framework based on the Unity engine. FastSim enables users to build robot simulation scenarios efficiently, by decoupling various simulation tasks with customizable modules, which contains simulated sensors, integrated utilities, visualization tools, and template robots. Besides high-performance robot dynamics simulation and high-quality image rendering, hardware-in-the-loop and mixed-reality applications are also available in this framework. The distinguished merits of FastSim include: (1) robot Operating system (ROS) compatible control interfaces and abundant visualization tools for researchers who prefer ROS-based toolchains and (2) its integration of state-of-the-art planning algorithms, which enables users, even beginners, to quickly master the deployment of highly autonomous robots in simulations. Finally, we demonstrate the flexibility of FastSim by several experiments and performance evaluations with open source examples in repository: https://***/ZJU-FAST-Lab/FastSim.

关键词： robots robot sensing systems Sensors Engines Image sensors Rotors Drones Aerial systems: applications simulation and animation methods and tools for robot system design

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Towards Assessing Compliant robotic Grasping From First-Object Perspective via Instrumented Objects

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IEEE robotICS AND AUTOMATION LETTERS 2024年第7期9卷 6320-6327页

作者： Knopke, Maceon Zhu, Liguo Corke, Peter Zhang, Fangyi Queensland Univ Technol QUT Ctr Robot Brisbane Qld 4000 Australia

Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp the objects so that it can perform the required task. Although some methods have been proposed to tackle this issue, performance assessment is still a problem for directly measuring object property changes and possible damage. To fill the gap, a new concept is introduced in this paper to assess compliant robotic grasping using instrumented objects. A proof-of-concept design is proposed to measure the force applied on a soft cuboid object from a first-object perspective. The design can detect multiple contact locations and applied forces on its surface by using multiple embedded 3D Hall sensors to detect deformation relative to embedded magnets. The contact estimation is achieved by interpreting the Hall-effect signals using neural networks. In comprehensive experiments, the design achieved good performance in estimating contacts from each single face of the cuboid and decent performance in detecting contacts from multiple faces when being used to evaluate grasping from a parallel jaw gripper, demonstrating the effectiveness of the design and the feasibility of the concept.

关键词： Grasping methods and tools for robot system design soft sensors and actuators

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Evolving robotic Hand Morphology Through Grasping and Learning

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IEEE robotICS AND AUTOMATION LETTERS 2024年第10期9卷 8475-8482页

作者： Yang, Bangchu Jiang, Li Wu, Wenhao Zhen, Ruichen Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China

Creatures can co-evolve their biological structures and behaviors under environmental pressures. Leveraging biomimetic evolution algorithms (referred to as co-design or co-optimization), a diverse range of robots with environmental adaptation has been generated. However, implementing these evolutionary methods or results in real-world robots, especially in the case of robotic hands, was not easy. In this context, this work presents a comprehensive self-optimization scheme for robotic hands that encompasses both software and hardware components. This scheme enables robots to autonomously refine their morphology through the integration of hardware gradients and reinforcement learning within parallel environments, thereby enhancing their adaptability to a variety of grasping tasks. For the hardware aspect, we developed a reconfigurable hand prototype with 37 variable hardware parameters (i.e., joint stiffness, the length of phalanges, finger location, and palm curvature) adjusted by mechanical components. Leveraging the adjustable hardware and 20 motors, this hand achieves full actuation and can dynamically adjust its morphology. The training results indicate that the fitness score of the self-optimizing hand exceeds that of original designs in this instance. The hardware parameters can be further fine-tuned in response to task variations. Moreover, the evolved hardware parameters are transferred to a real-world reconfigurable hand, demonstrating its grasping and adaptivity capabilities.

关键词： Hardware Grasping robots Morphology Optimization Stability analysis Task analysis Evolutionary robotics deep learning in grasping and manipulation methods and tools for robot system design hardware gradient reconfigurable hand

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Transferability in the Automatic Off-Line design of robot Swarms: From Sim-to-Real to Embodiment and design-Method Transfer Across Different Platforms

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IEEE robotICS AND AUTOMATION LETTERS 2024年第3期9卷 2758-2765页

作者： Kegeleirs, Miquel Ramos, David Garzon Hasselmann, Ken Garattoni, Lorenzo Francesca, Gianpiero Birattari, Mauro Univ libre Bruxelles IRIDIA B-1050 Brussels Belgium Royal Mil Acad B-1000 Brussels Belgium Toyota Motor Europe B-1140 Brussels Belgium

Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission to be accomplished by the swarm, and an optimization process generates suitable control software for the individual robots through computer-based simulations. Most relevant literature has focused on effectively transferring control software from simulation to physical robots. Here, we investigate 1) whether the design methods that generate control software are transferable across robot platforms and 2) whether control software generated via such methods is itself transferable. We experiment with two ground mobile platforms with equivalent functional capabilities. Our measure of transferability is based on the performance drop observed when control software and/or design methods are ported from one platform to another. Results indicate that, while the control software generated via automatic design is possibly transferable, better performance can be achieved when a transferable method is directly applied to the new platform.

关键词： Automatic design swarm robotics transferability methods and tools for robot system design evolutionary robotics

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Shape-Changing robotic Mannequin Shoulder With Bio-Inspired Layered Structure

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IEEE robotICS AND AUTOMATION LETTERS 2023年第8期8卷 5172-5179页

作者： Long, Juncai Li, Jituo Lu, Yiwen Zhou, Chengdi Lu, Guodong Feng, Yixiong Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310007 Peoples R China

Shape-changing robotic mannequin is a humanoid robot for imitating shapes of human bodies. The diversity of human bodies makes it difficult to imitate various body shapes, especially the shoulders. This paper proposes a rigid-flexible-soft coupling three-layered robotic mannequin shoulder inspired by human body anatomy. The robotic mannequin can adjust the anisotropic deformation of its human-like skin to imitate body dimensions, shape details and surface curvatures of target bodies. Structurally, the inner skeleton layer is composed of rigid framework and linear actuators for changing the global body dimensions. The middle muscle layer consists of flexible patches and layer-jamming bars with tunable stiffness for controlling the surface curvatures. The outer soft skin layer envelops the patches, forming a human-like surface of the robotic mannequin. To imitate a human body, the linear actuators drive the patches forward, which deforms the elastic skin layer. The tensioned skin layer inversely drives the bending deformation of patches, which can be controlled by layer-jamming bars. We design the three-layered structure by analyzing the shape differences of hundreds of scanned human models. An energy-based method is proposed to predict and control the coupling deformation of the layered structure. A physical robotic shoulder prototype has been built to verify the effectiveness of our method.

关键词： Humanoid robot systems methods and tools for robot system design shape-changing robotic mannequin

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Reconfigurable, Multi-Material, Voxel-Based Soft robots

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IEEE robotICS AND AUTOMATION LETTERS 2023年第3期8卷 1255-1262页

作者： Legrand, Julie Terryn, Seppe Roels, Ellen Vanderborght, Bram Vrije Univ Brussel Robot & Multibody Mech R&MM Res Grp B-1050 Brussels Belgium Imec B-1050 Brussels Belgium

Voxel-based robots are aggregations of soft and simple building blocks that have been extensively evolved and simulated to perform various tasks, like walking, jumping or swimming. However, real-life voxel-based robots are rather scarce because of their challenging design and assembly. With the current materials and assembling methods, the interfaces between the soft multi-material voxels are prone to failure. This work proposes to make voxels out of reversible Diels-Alder polymers, which are available in a broad range of mechanical properties. By doing so, the covalent bonds at the multi-material interface ensure strong chemical connections, while allowing for reconfiguration. A first voxel-based gripper is thus robustly assembled, then disassembled, using its pieces (voxels) for reassembling another robot, i.e. a voxel-based walking robot. This reconfigurable property allows iterative validation of the simulated voxel-based robots and fine-tuning of the simulations parameters in a sustainable and economical way. Both physical voxel-based robots show similar behaviors as their simulations with root-mean-square errors down to 10.4%.

关键词： Plastics Legged locomotion robot kinematics Soft robotics Grippers Heating systems Faces Evolutionary robotics methods and tools for robot system design soft robot materials and design

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