Pub Date : 2026-01-14DOI: 10.1109/tro.2026.3653881
Yuhan Chen, Yunkai Wang, Fan Bu, Guiyang Xin, Changsheng Dai, Xingjian Liu, Yu Sun, Xinyu Liu
{"title":"A Fifth-Order POE-Based Method for Kinematic Identification and Inverse Kinematics of Serial Robots","authors":"Yuhan Chen, Yunkai Wang, Fan Bu, Guiyang Xin, Changsheng Dai, Xingjian Liu, Yu Sun, Xinyu Liu","doi":"10.1109/tro.2026.3653881","DOIUrl":"https://doi.org/10.1109/tro.2026.3653881","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"141 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972405","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-14DOI: 10.1109/TRO.2026.3653850
Boris Deroo;Erwin Aertbeliën;Wilm Decré;Herman Bruyninckx
This article describes a solution for pick-and-place tasks that do not require high precision throughout the execution, using a robotized gantry crane. Two common issues that occur when using a crane are addressed, and solutions are provided. First, the lack of rotational controllability is overcome by designing a gripper that passively aligns itself with the handle of the payload using a simple, robust control strategy. Second, the active workspace is expanded by using controlled, dynamic motions, based on a variable-length pendulum model. Thus, the workspace is no longer limited to positions directly accessible from above, as is the case with quasi-static control methods. The robustness and effectiveness of the proposed solution was validated by a grasping, and a shelf insertion experiment. The robot was able to grasp the payload during all 48 trials. Failures were detected and recovery strategies were implemented. The handle could also be reliably ungrasped. During the shelf insertion, imperfect trajectory tracking caused a significant error during the unobservable part of the trajectory. Nevertheless, the actual placement position was always close to the desired position.
{"title":"Mechatronic Design and Control of a Robotized Crane Exploiting Natural Dynamics for Pick-and-Place Applications","authors":"Boris Deroo;Erwin Aertbeliën;Wilm Decré;Herman Bruyninckx","doi":"10.1109/TRO.2026.3653850","DOIUrl":"10.1109/TRO.2026.3653850","url":null,"abstract":"This article describes a solution for pick-and-place tasks that do not require high precision throughout the execution, using a robotized gantry crane. Two common issues that occur when using a crane are addressed, and solutions are provided. First, the lack of rotational controllability is overcome by designing a gripper that passively aligns itself with the handle of the payload using a simple, robust control strategy. Second, the active workspace is expanded by using controlled, dynamic motions, based on a variable-length pendulum model. Thus, the workspace is no longer limited to positions directly accessible from above, as is the case with quasi-static control methods. The robustness and effectiveness of the proposed solution was validated by a grasping, and a shelf insertion experiment. The robot was able to grasp the payload during all 48 trials. Failures were detected and recovery strategies were implemented. The handle could also be reliably ungrasped. During the shelf insertion, imperfect trajectory tracking caused a significant error during the unobservable part of the trajectory. Nevertheless, the actual placement position was always close to the desired position.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"782-798"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972392","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-14DOI: 10.1109/tro.2026.3653859
Peiyi Wang, Daniel Feliu-Talegon, Yuchen Sun, Zhexin Xie, Wenci Xin, Muhammad Sunny Nazeer, Cosimo Della Santina, Cecilia Laschi, Federico Renda
{"title":"Strain-based Shape and 3D Force Estimation for Rod-driven Continuum Robots with Stretch Sensors","authors":"Peiyi Wang, Daniel Feliu-Talegon, Yuchen Sun, Zhexin Xie, Wenci Xin, Muhammad Sunny Nazeer, Cosimo Della Santina, Cecilia Laschi, Federico Renda","doi":"10.1109/tro.2026.3653859","DOIUrl":"https://doi.org/10.1109/tro.2026.3653859","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"177 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-14DOI: 10.1109/TRO.2026.3653783
Xingyu Chen;Xiaotian Shi;Peinan Yan;Jieji Ren;Guoying Gu;Jiang Zou
Due to their continuous electromechanical deformation, rate-dependent viscoelasticity, and complex mechanical vibration, dynamic modeling and high-speed tracking control of dielectric elastomer actuators (DEAs) remain elusive, significantly limiting their working bandwidth. In this work, we propose a physics-informed token prediction (PITP) that enables accurate modeling of DEA dynamics and high-speed feedforward tracking control. The PITP framework consists of two key components: a physics-informed encoder and a dynamic decoder. The physics-informed encoder is designed based on a simplified equivalent linear model and trained through the hierarchical optimization training method, which embeds the global dynamic characteristics into tokens, minimizing the need for extensive data and training. Then, the dynamic decoder is developed by using these tokens as state-dependent parameters, capable of describing complex dynamic responses through the autoregressive solution. Finally, by taking advantage of the model’s reversibility, a direct inverse compensator is established to linearize the input–output relationship. Experimental results of several DEAs with different configurations and payloads demonstrate that, based on our PITP framework, the complex nonlinear dynamic responses of all DEAs can be precisely described and eliminated within their natural frequency, validating its generality and versatility. By leveraging fast modeling ($< $30 min) and high-speed feedforward tracking control, our PITP framework may accelerate DEAs’ practical applications.
{"title":"Physics-Informed Token Prediction-Based Dynamic Modeling and High-Speed Feedforward Tracking Control of Dielectric Elastomer Actuators","authors":"Xingyu Chen;Xiaotian Shi;Peinan Yan;Jieji Ren;Guoying Gu;Jiang Zou","doi":"10.1109/TRO.2026.3653783","DOIUrl":"10.1109/TRO.2026.3653783","url":null,"abstract":"Due to their continuous electromechanical deformation, rate-dependent viscoelasticity, and complex mechanical vibration, dynamic modeling and high-speed tracking control of dielectric elastomer actuators (DEAs) remain elusive, significantly limiting their working bandwidth. In this work, we propose a physics-informed token prediction (PITP) that enables accurate modeling of DEA dynamics and high-speed feedforward tracking control. The PITP framework consists of two key components: a physics-informed encoder and a dynamic decoder. The physics-informed encoder is designed based on a simplified equivalent linear model and trained through the hierarchical optimization training method, which embeds the global dynamic characteristics into tokens, minimizing the need for extensive data and training. Then, the dynamic decoder is developed by using these tokens as state-dependent parameters, capable of describing complex dynamic responses through the autoregressive solution. Finally, by taking advantage of the model’s reversibility, a direct inverse compensator is established to linearize the input–output relationship. Experimental results of several DEAs with different configurations and payloads demonstrate that, based on our PITP framework, the complex nonlinear dynamic responses of all DEAs can be precisely described and eliminated within their natural frequency, validating its generality and versatility. By leveraging fast modeling (<inline-formula><tex-math>$< $</tex-math></inline-formula>30 min) and high-speed feedforward tracking control, our PITP framework may accelerate DEAs’ practical applications.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"42 ","pages":"839-855"},"PeriodicalIF":10.5,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Stable Kinematics for Multi-Robot Collaborative Transporting System with a Deformable Sheet","authors":"Wenyao Ma, Jiawei Hu, Jiamao Li, Jingang Yi, Zhenhua Xiong","doi":"10.1109/tro.2026.3653870","DOIUrl":"https://doi.org/10.1109/tro.2026.3653870","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"7 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145972367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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