Related papers: Neural Collision Detection for Multi-arm Laparosco…
Robotic assistance in minimally invasive surgery can greatly enhance surgical precision and reduce surgeon fatigue. This paper presents a focused investigation on the kinematic and ergonomic design principles for a laparoscopic surgical…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…
Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Motion planning is a central challenge in robotics, with learning-based approaches gaining significant attention in recent years. Our work focuses on a specific aspect of these approaches: using machine-learning techniques, particularly…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…
Collision detection is one of the most time-consuming operations during motion planning. Thus, there is an increasing interest in exploring machine learning techniques to speed up collision detection and sampling-based motion planning. A…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
Minimally invasive surgery (MIS) offers significant benefits such as reduced recovery time and minimised patient trauma, but poses challenges in visibility and access, making accurate 3D reconstruction a significant tool in surgical…
This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…
Cooperative autonomous approaches to avoiding collisions among small Unmanned Aerial Vehicles (UAVs) is central to safe integration of UAVs within the civilian airspace. One potential online cooperative approach is the concept of reciprocal…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…