Related papers: Embedded Flexible Circumferential Sensing for Real…
Modular small-scale robots offer the potential for on-demand assembly and disassembly, enabling task-specific adaptation in dynamic and constrained environments. However, existing modular magnetic platforms often depend on workspace…
Effective force modulation during tissue manipulation is important for ensuring safe robot-assisted minimally invasive surgery (RMIS). Strict requirements for in-vivo distal force sensing have led to prior sensor designs that trade off ease…
Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic…
Depth sensing is a critical function for robotic tasks such as localization, mapping and obstacle detection. There has been a significant and growing interest in depth estimation from a single RGB image, due to the relatively low cost and…
This paper introduces a novel class of hyperredundant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controlled using an externally-applied magnetic field, the spherical…
We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level generalization in manipulation. Its modular design supports…
Grasp force estimation can help prevent robots from damaging delicate objects during manipulation and improve learning-based robotic control. Integrating force sensing into deformable grippers negotiates trade-offs in cost, complexity,…
Continuum robots have the potential to enable new applications in medicine, inspection, and countless other areas due to their unique shape, compliance, and size. Excellent progess has been made in the mechanical design and dynamic…
Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either…
Capacitive technology allows building sensors that are small, compact and have high sensitivity. For this reason it has been widely adopted in robotics. In a previous work we presented a compliant skin system based on capacitive technology…
This paper presents a shape-aware whole-body control framework for tendon-driven continuum robots with direct application to endoluminal surgical navigation. Endoluminal procedures, such as bronchoscopy, demand precise and safe navigation…
Robotic manipulation requires both rich multimodal perception and effective learning frameworks to handle complex real-world tasks. See-through-skin (STS) sensors, which combine tactile and visual perception, offer promising sensing…
This paper introduces a learning-based modeling framework for a magnetically steerable soft suction device designed for endoscopic endonasal brain tumor resection. The device is miniaturized (4 mm outer diameter, 2 mm inner diameter, 40 mm…
This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…
In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…
Autonomous control of the laparoscope in robot-assisted Minimally Invasive Surgery (MIS) has received considerable research interest due to its potential to improve surgical safety. Despite progress in pixel-level Image-Based Visual…
Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are…
Contact detection for continuum and soft robots has been limited in past works to statics or kinematics-based methods with assumed circular bending curvature or known bending profiles. In this paper, we adapt the generalized momentum…