Related papers: An Open-Source Robotics Research Platform for Auto…

Autonomous surgery involves having surgical tasks performed by a robot operating under its own will, with partial or no human involvement. There are several important advantages of automation in surgery, which include increasing precision…

We envision a future in which autonomous robots conduct scientific experiments in ways that are not only precise and repeatable, but also open, trustworthy, and transparent. To realize this vision, we present two key contributions: a…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

Robotic surgery promises enhanced precision and adaptability over traditional surgical methods. It also offers the possibility of automating surgical interventions, resulting in reduced stress on the surgeon, better surgical outcomes, and…

The aerial manipulator (AM) is a systematic operational robotic platform in high standard on algorithm robustness. Directly deploying the algorithms to the practical system will take numerous trial and error costs and even cause destructive…

The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when…

Maternal health remains a pervasive challenge in developing and underdeveloped countries. Inadequate access to basic antenatal Ultrasound (US) examinations, limited resources such as primary health services and infrastructure, and lack of…

Cancer cases have been rising globally, resulting in nearly 10 million deaths in 2023. Biopsy, crucial for diagnosis, is often performed under ultrasound (US) guidance, demanding precise hand coordination and cognitive decision-making.…

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these…

Open-Vocabulary Mobile Manipulation (OVMM) is a crucial capability for autonomous robots, especially when faced with the challenges posed by unknown and dynamic environments. This task requires robots to explore and build a semantic…

Augmenting automated vehicles to wirelessly detect and respond to external events before they are detectable by onboard sensors is crucial for developing context-aware driving strategies. To this end, we present an automated vehicle…

Teleoperating high degrees-of-freedom (DoF) robotic manipulators via low-DoF controllers like joysticks often requires frequent switching between control modes, where each mode maps controller movements to specific robot actions. Manually…

This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer,…

Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…

Many modern robotic systems operate autonomously, however they often lack the ability to accurately analyze the environment and adapt to changing external conditions, while teleoperation systems often require special operator skills. In the…

As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…

Despite promising progress in reinforcement learning (RL), developing algorithms for autonomous driving (AD) remains challenging: one of the critical issues being the absence of an open-source platform capable of training and effectively…

As the use of autonomous robots expands in tasks that are complex and challenging to model, the demand for robust data-driven control methods that can certify safety and stability in uncertain conditions is increasing. However, the…

Purpose: Precise port placement is a critical step in robot-assisted surgery, where port configuration influences both visual access to the operative field and instrument maneuverability. To bridge the gap between preoperative planning and…

With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…