Acoustic Feedback for Closed-Loop Force Control in Robotic Grinding
School of Electrical Engineering and Robotics, Queensland University of Technology（昆士兰科技大学电气工程与机器人学院）；Australian Cobotics Centre, Queensland University of Technology（昆士兰科技大学澳大利亚协作机器人中心）；Centre for Robotics, Queensland University of Technology（昆士兰科技大学机器人中心）
Zongyuan Zhang, Christopher Lehnert, Will N. Browne, Jonathan M. Roberts
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast, robotic grinding systems typically rely on force sensing, with acoustic information largely ignored. This reliance on force sensors is costly and difficult to adapt to different grinding tools, whereas audio sensors (microphones) are low-cost and can be mounted on any medium that conducts grinding sound.
This paper introduces a low-cost Acoustic Feedback Robotic Grinding System (AFRG) that captures audio signals with a contact microphone, estimates grinding force from the audio in real time, and enables closed-loop force control of the grinding process. Compared with conventional force-sensing approaches, AFRG achieves a 4-fold improvement in consistency across different grinding disc conditions. AFRG relies solely on a low-cost microphone, which is approximately 200-fold cheaper than conventional force sensors, as the sensing modality, providing an easily deployable, cost-effective robotic grinding solution.
Robotic Grinding Skills Learning Based on Geodesic Length Dynamic Motion Primitives
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Department of Mechanical Science and Engineering, Huazhong University of Science and Technology（智能制造装备与技术国家重点实验室，机械科学与工程学院，华中科技大学）
DecompGrind: A Decomposition Framework for Robotic Grinding via Cutting-Surface Planning and Contact-Force Adaptation
Nara Institute of Science and Technology (NAIST)（奈良先端科学技术大学院大学）；Keio University（庆应义塾大学）；Kyoto University（京都大学）；Advanced Telecommunications Research Institute International (ATR)（国际电气通信基础技术研究所）
AIA-UltraNeRF:Acoustic-Impedance-Aware Neural Radiance Field with Hash Encodings for Robotic Ultrasound Reconstruction and Localization
School of Management, Hefei University of Technology（合肥工业大学管理学院）；First Affiliated Hospital of University of Science and Technology of China（中国科学技术大学第一附属医院）；Department of Ultrasound Diagnosis, the Second Xiangya Hospital of Central South University（中南大学湘雅医学院第二医院超声诊断科）；Intelligent Ultrasound Division of VINNO Technology Co., Ltd.（VINNO技术有限公司智能超声事业部）；Department of Automation, Tsinghua University（清华大学自动化系）
Enabling Tactile Feedback for Robotic Strawberry Handling using AST Skin
Lincoln Institute of Agri-food Technology, University of Lincoln（林肯大学食品农业技术学院）；School of Computer Science, University of Lincoln（林肯大学计算机科学学院）；University of Surrey（萨里大学）
Accelerating Audio Research with Robotic Dummy Heads
University of Illinois Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Stony Brook University（纽约州立大学石溪分校）；University of Illinois Chicago（伊利诺伊大学芝加哥分校）；Discovery Partners Institute（发现伙伴研究所）；Amazon Web Services（亚马逊云服务）
OASIS: Real-Time Opti-Acoustic Sensing for Intervention Systems in Unstructured Environments
Applied Ocean Physics and Engineering, Woods Hole Oceanographic Institution, Deep Submergence Laboratory（应用海洋物理与工程，伍兹霍尔海洋研究所，深潜实验室）；Massachusetts Institute of Technology（麻省理工学院）
UltraTac: Integrated Ultrasound-Augmented Visuotactile Sensor for Enhanced Robotic Perception
Shenzhen Ubiquitous Data Enabling Key Lab, Shenzhen International Graduate School, Tsinghua University（深圳 ubiquitous 数据赋能重点实验室，深圳国际研究生院，清华大学）；RISC-V International Open Source Laboratory（RISC-V国际开源实验室）
The Adaptive Architectural Layout: How the Control of a Semi-Autonomous Mobile Robotic Partition was Shared to Mediate the Environmental Demands and Resources of an Open-Plan Office
MicroRoboScope: A Portable and Integrated Mechatronic Platform for Magnetic and Acoustic Microrobotic Experimentation
Department of Mechanical Engineering, University of Delaware（机械工程系，德雷克塞尔大学）；Departments of Animal & Food Sciences, Biological Sciences, and Medical & Molecular Sciences, University of Delaware（动物与食品科学系、生物科学系和医学与分子科学系，德雷克塞尔大学）
