Related papers: Optimizing Base Placement of Surgical Robot: Kinem…
In surgery, the application of appropriate force levels is critical for the success and safety of a given procedure. While many studies are focused on measuring in situ forces, little attention has been devoted to relating these observed…
Automation in surgical robotics has the potential to improve patient safety and surgical efficiency, but it is difficult to achieve due to the need for robust perception algorithms. In particular, 6D pose estimation of surgical instruments…
This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in…
Purpose: Drop-in gamma probes are widely used in robotic-assisted minimally invasive surgery (RAMIS) for lymph node detection. However, these devices only provide audio feedback on signal intensity, lacking the visual feedback necessary for…
Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…
Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
Achieving human-like motion in robots has been a fundamental goal in many areas of robotics research. Inverse kinematic (IK) solvers have been explored as a solution to provide kinematic structures with anthropomorphic movements. In…
We present a novel approach to path planning for robotic manipulators, in which paths are produced via iterative optimisation in the latent space of a generative model of robot poses. Constraints are incorporated through the use of…
Intra-cardiac Echocardiography (ICE) plays a crucial role in Electrophysiology (EP) and Structural Heart Disease (SHD) interventions by providing high-resolution, real-time imaging of cardiac structures. However, existing navigation methods…
Balance is the fundamental skill behind human locomotion, and its impairment is the principal indicator of self-perceived disability. Despite significant improvements in balance assessment, there is still large incidence of fall related…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
In this paper, we propose a novel coarse-to-fine continuous pose diffusion method to enhance the precision of pick-and-place operations within robotic manipulation tasks. Leveraging the capabilities of diffusion networks, we facilitate the…
Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…
Most of the existing mobile robot localization solutions are either heavily dependent on pre-installed infrastructures or having difficulty working in highly repetitive environments which do not have sufficient unique features. To address…
The paper is devoted to the geometrical calibration of industrial robots employed in precise manufacturing. To identify geometric parameters, an advanced calibration technique is proposed that is based on the non-linear experiment design…
Inspection of infrastructure using static sensor nodes has become a well established approach in recent decades. In this work, we present an experimental setup to address a binary inspection task using mobile sensor nodes. The objective is…
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…