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- Volume 4, 2021
Annual Review of Control, Robotics, and Autonomous Systems - Volume 4, 2021
Volume 4, 2021
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Dynamic Walking: Toward Agile and Efficient Bipedal Robots
Jenna Reher, and Aaron D. AmesVol. 4 (2021), pp. 535–572More LessDynamic walking on bipedal robots has evolved from an idea in science fiction to a practical reality. This is due to continued progress in three key areas: a mathematical understanding of locomotion, the computational ability to encode this mathematics through optimization, and the hardware capable of realizing this understanding in practice. In this context, this review outlines the end-to-end process of methods that have proven effective in the literature for achieving dynamic walking on bipedal robots. We begin by introducing mathematical models of locomotion, from reduced-order models that capture essential walking behaviors to hybrid dynamical systems that encode the full-order continuous dynamics along with discrete foot-strike dynamics. These models form the basis for gait generation via (nonlinear) optimization problems. Finally, models and their generated gaits merge in the context of real-time control, wherein walking behaviors are translated to hardware. The concepts presented are illustrated throughout in simulation, and experimental instantiations on multiple walking platforms are highlighted to demonstrate the ability to realize dynamic walking on bipedal robots that is both agile and efficient.
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Mechanisms for Robotic Grasping and Manipulation
Vol. 4 (2021), pp. 573–593More LessThis article reviews the literature on the design of robotic mechanical grippers, with a focus on the mechanical aspects, which are believed to be the main bottleneck for effective designs. Our discussion includes gripper architectures and means of actuation, anthropomorphism and grasp planning, and robotic manipulation, emphasizing the complementary concepts of intrinsic and extrinsic dexterity. We also consider interactions of robotic grippers with the environment and with the objects to be grasped and argue that the proper handling of such interactions is key to the development of grasping and manipulation tools and scenarios. Finally, we briefly present examples of recent designs to support the discussion.
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Current Solutions and Future Trends for Robotic Prosthetic Hands
Vol. 4 (2021), pp. 595–627More LessThe desire for functional replacement of a missing hand is an ancient one. Historically, humans have replaced a missing limb with a prosthesis for cosmetic, vocational, or personal autonomy reasons. The hand is a powerful tool, and its loss causes severe physical and often mental debilitation. Technological advancements have allowed the development of increasingly effective artificial hands, which can improve the quality of life of people who suffered a hand amputation. Here, we review the state of the art of robotic prosthetic hands (RPHs), with particular attention to the potential and current limits of their main building blocks: the hand itself, approaches to decoding voluntary commands and controlling the hand, and systems and methods for providing sensory feedback to the user. We also briefly describe existing approaches to characterizing the performance of subjects using RPHs for grasping tasks and provide perspectives on the future of different components and the overall field of RPH development.
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Electronic Skins for Healthcare Monitoring and Smart Prostheses
Vol. 4 (2021), pp. 629–650More LessThe human skin is a unique organ that embeds multiple functions that no artificial systems can currently replicate. Advances in materials science and engineering are driving the design of electronic skins—large-area sensor arrays that mimic some sensory modalities and have the soft, elastic form of natural skin. Here, we focus on electronic skins designed to be worn on the human body for healthcare monitoring or prosthetic applications. The primary sensing modalities are mechanical, thermal, and electrophysiological. We review key materials and associated designs needed to manufacture electronic devices that can conform to the human body and move along with it. Electronic skins offer exciting opportunities for human–machine interfaces.
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Autonomy in Surgical Robotics
Vol. 4 (2021), pp. 651–679More LessThis review examines the dichotomy between automatic and autonomous behaviors in surgical robots, maps the possible levels of autonomy of these robots, and describes the primary enabling technologies that are driving research in this field. It is organized in five main sections that cover increasing levels of autonomy. At level 0, where the bulk of commercial platforms are, the robot has no decision autonomy. At level 1, the robot can provide cognitive and physical assistance to the surgeon, while at level 2, it can autonomously perform a surgical task. Level 3 comes with conditional autonomy, enabling the robot to plan a task and update planning during execution. Finally, robots at level 4 can plan and execute a sequence of surgical tasks autonomously.
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The Use of Robots to Respond to Nuclear Accidents: Applying the Lessons of the Past to the Fukushima Daiichi Nuclear Power Station
Vol. 4 (2021), pp. 681–710More LessIt has been 10 years since the Fukushima Daiichi Nuclear Power Station (NPS) accident. This article begins by discussing the robots used during the responses to the Three Mile Island and Chernobyl nuclear accidents. It then reviews the robots used to respond to the Fukushima Daiichi NPS accident, while considering the lessons learned from the previous accidents. Such discussions will hopefully lead to the further development of robots for decommissioning the Fukushima Daiichi NPS.
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