Related papers: RCM-Constrained Manipulator Trajectory Tracking Us…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Accurate tracking of tissues and instruments in videos is crucial for Robotic-Assisted Minimally Invasive Surgery (RAMIS), as it enables the robot to comprehend the surgical scene with precise locations and interactions of tissues and…
This article formulates a generic representation of a path-following controller operating under contained motion, which was developed in the context of surgical robotics. It reports two types of constrained motion: i) Bilateral Constrained…
This paper addresses the challenge of teleoperating continuum instruments for minimally invasive surgery (MIS). We develop and adopt a novel task-priority-based kinematic formulation to quantitatively investigate teleoperation commands for…
Collaborative robots should ideally use low torque actuators for passive safety reasons. However, some applications require these collaborative robots to reach deep into confined spaces while assisting a human operator in physically…
We consider the problem of cooperative manipulation by a mobile multi-manipulator system operating in obstacle-cluttered and highly constrained environments under spatio-temporal task specifications. The task requires transporting a grasped…
Minimally invasive surgery (MIS) procedures benefit significantly from robotic systems due to their improved precision and dexterity. However, ensuring safety in these dynamic and cluttered environments is an ongoing challenge. This paper…
Modern manipulators are acclaimed for their precision but often struggle to operate in confined spaces. This limitation has driven the development of hyper-redundant and continuum robots. While these present unique advantages, they face…
Transcranial magnetic stimulation (TMS) is a noninvasive medical procedure that can modulate brain activity, and it is widely used in neuroscience and neurology research. Compared to manual operators, robots may improve the outcome of TMS…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
This paper explores the digital modeling and robotic reproduction of traditional Chinese medicine (TCM) massage techniques. We adopt an adaptive admittance control algorithm to optimize force and position control, ensuring safety and…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Due to the several applications on Human-machine interaction (HMI), this area of research has become one of the most popular in recent years. This is the case for instance of advanced training machines, robots for rehabilitation, robotic…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinematics model of a six Degrees-of-Freedom (DoF) robotic arm…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
As one of the core parts of flexible manufacturing systems, material handling involves storage and transportation of materials between workstations with automated vehicles. The improvement in material handling can impulse the overall…