Robustness in Human Manipulation of Dynamically Complex Objects through Control Contraction Metrics [0.03%]
基于控制收缩度量的人类操控动力学复杂对象的鲁棒性研究
Salah Bazzi,Dagmar Sternad
Salah Bazzi
Control and manipulation of objects with underactuated dynamics remains a challenge for robots. Due to their typically nonlinear dynamics, it is computationally taxing to implement model-based planning and control techniques. Yet humans can...
Online Disturbance Estimation for Improving Kinematic Accuracy in Continuum Manipulators [0.03%]
连续 manipulator 中改善运动学准确性的在线干扰估计方法
Federico Campisano,Andria A Remirez,Simone Caló et al.
Federico Campisano et al.
Continuum manipulators are flexible robots which undergo continuous deformation as they are actuated. To describe the elastic deformation of such robots, kinematic models have been developed and successfully applied to a large variety of de...
Lavinia Barducci,Giovanni Pittiglio,Joseph C Norton et al.
Lavinia Barducci et al.
In the present work we discuss a novel dynamic control approach for magnetically actuated robots, by proposing an adaptive control technique, robust towards parametric uncertainties and unknown bounded disturbances. The former generally ari...
Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope [0.03%]
无传感器估算末端操作内窥镜平面远端形状的方法
Piotr R Slawinski,Nabil Simaan,Keith L Obstein et al.
Piotr R Slawinski et al.
Traditional endoscopes consist of a flexible body and a steerable tip with therapeutic capability. Although prior endoscopes have relied on operator pushing for actuation, recent robotic concepts have relied on the application of a tip forc...
Nahian Rahman,Nancy Deaton,Jun Sheng et al.
Nahian Rahman et al.
We present a modular sensing system to measure the deflection of a minimally invasive neurosurgical intracranial robot: MINIR-II. The MINIR-II robot is a tendon-driven continuum robot comprised of multiple spring backbone segments, which ha...
Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach [0.03%]
一种用于软式胶囊结肠镜的磁性悬浮方法，使用单一永磁铁驱动并进行动态控制
Giovanni Pittiglio,Lavinia Barducci,James W Martin et al.
Giovanni Pittiglio et al.
The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magn...
Learning Feasibility for Task and Motion Planning in Tabletop Environments [0.03%]
面向台式环境的任务和运动规划的可行性学习
Andrew M Wells,Neil T Dantam,Anshumali Shrivastava et al.
Andrew M Wells et al.
Task and motion planning (TMP) combines discrete search and continuous motion planning. Earlier work has shown that to efficiently find a task-motion plan, the discrete search can leverage information about the continuous geometry. However,...
Bruno Scaglioni,Luca Previtera,James Martin et al.
Bruno Scaglioni et al.
In this paper, explicit model predictive control is applied in conjunction with nonlinear optimisation to a magnetically actuated flexible endoscope for the first time. The approach is aimed at computing the motion of the external permanent...
Towards the Development of A Steerable and MRI-Compatible Cardiac Catheter for Atrial Fibrillation Treatment [0.03%]
一种用于治疗房颤的可操控磁共振兼容性心脏导管的发展研究
Jun Sheng,Xuefeng Wang,Timm-Michael L Dickfeld et al.
Jun Sheng et al.
To treat atrial fibrillation (AFib), radiofrequency ablation is usually implemented with a cardiac catheter to block abnormal electrical signals from pulmonary veins. However, it is challenging to manipulate a passive catheter. In addition,...
Deepak Gopinath,Siddarth Jain,Brenna D Argall
Deepak Gopinath
In this paper, we propose a mathematical framework which formalizes user-driven customization of shared autonomy in assistive robotics as a nonlinear optimization problem. Our insight is to allow the end-user, rather than relying on standar...