Related papers: Vision and Contact based Optimal Control for Auton…
Retinal surgery is a complex medical procedure that requires exceptional expertise and dexterity. For this purpose, several robotic platforms are currently being developed to enable or improve the outcome of microsurgical tasks. Since the…
[...] Specifically, the problem addressed is an assembly one known as the peg-in-hole task. In this case, two autonomous manipulators must carry cooperatively (at kinematic level) a peg and must insert it into an hole fixed in the…
Insertion operations are a critical element of most robotic assembly operation, and peg-in-hole (PiH) insertion is one of the most widely studied tasks in the industrial and academic manipulation communities. PiH insertion is in fact an…
Robust and adaptive robotic peg-in-hole assembly under tight tolerances is critical to various industrial applications. However, it remains an open challenge due to perceptual and physical uncertainties from contact-rich interactions that…
Many keyhole interventions rely on bi-manual handling of surgical instruments, forcing the main surgeon to rely on a second surgeon to act as a camera assistant. In addition to the burden of excessively involving surgical staff, this may…
In laparoscopic robot-assisted minimally invasive surgery, the kinematic control of the robot is subject to the remote center of motion (RCM) constraint at the port of entry (e.g., trocar) into the patient's body. During surgery, after the…
Laparoscope-holding robots can provide surgeons with a stable laparoscopic field of view (FOV) and reduce the burden on human assistants. To maintain an ideal intraoperative FOV, the robot must continuously adjust the laparoscope pose…
Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can be employed to increase the robustness towards uncertainties…
In this paper, we propose a model-based contact-aware motion planner for autonomous navigation of neuroendovascular tools in acute ischemic stroke. The planner is designed to find the optimal control strategy for telescopic pre-bent…
Recent advancements toward perception and decision-making of flexible endoscopes have shown great potential in computer-aided surgical interventions. However, owing to modeling uncertainty and inter-patient anatomical variation in flexible…
Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…
Flexible endoscopes for colonoscopy present several limitations due to their inherent complexity, resulting in patient discomfort and lack of intuitiveness for clinicians. Robotic devices together with autonomous control represent a viable…
We propose a method that actively estimates contact location between a grasped rigid object and its environment and uses this as input to a peg-in-hole insertion policy. An estimation model and an active tactile feedback controller work…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
Industrial robot manipulators are playing a more significant role in modern manufacturing industries. Though peg-in-hole assembly is a common industrial task which has been extensively researched, safely solving complex high precision…
We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The…
Remote Center of Motion (RCM) robotic manipulators have revolutionized Minimally Invasive Surgery, enabling precise, dexterous surgical manipulation within the patient's body cavity without disturbing the insertion point on the patient.…
We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided…
Endoscopic endonasal approaches (EEA) have become more prevalent for minimally invasive skull base and sinus surgeries. However, rigid scopes and tools significantly decrease the surgeon's ability to operate in tight anatomical spaces and…
Reliable insertion of industrial connectors remains a central challenge in robotics, requiring sub-millimeter precision under uncertainty and often without full visual access. Vision-based approaches struggle with occlusion and limited…