MOPS: A Modular and Open Platform for Surgical Robotics Research

Autor: Kim Lindberg Schwaner, Inigo Iturrate, Jakob Kristian Holm Andersen, Christian Rosendahl Dam, Pernille Tine Jensen, Thiusius Rajeeth Savarimuthu

Publikováno v: Schwaner, K L, Iturrate, I, Andersen, J K H, Dam, C R, Jensen, P T & Savarimuthu, T R 2021, MOPS : A Modular and Open Platform for Surgical Robotics Research . in 2021 International Symposium on Medical Robotics, ISMR 2021 : Proceedings ., 176233, Institute of Electrical and Electronics Engineers Inc., International Symposium on Medical Robotics Proceedings, 2021 International Symposium on Medical Robotics, ISMR 2021, Atlanta, United States, 17/11/2021 . https://doi.org/10.1109/ISMR48346.2021.9661539
Schwaner, K L, Iturrate, I, Andersen, J K H, Dam, C R, Jensen, P T & Savarimuthu, T R 2021, MOPS : A Modular and Open Platform for Surgical Robotics Research . in 2021 International Symposium on Medical Robotics (ISMR) . IEEE, 2021 International Symposium on Medical Robotics (ISMR), Atlanta, Georgia, United States, 17/11/2021 . https://doi.org/10.1109/ISMR48346.2021.9661539

MOPS is a platform for surgical robotics research. It consists of hardware and software components for building surgical robot systems based on existing robot arms. The reference system presented in this paper has two robot arms, each with an adapter

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::735eed8ac116d1f417973acfab36f89a
https://doi.org/10.1109/ismr48346.2021.9661539

Towards easy setup of robotic assembly tasks

Autor: Aljaž Kramberger, Christoffer Sloth, Inigo Iturrate

Publikováno v: Sloth, C, Kramberger, A & Iturrate, I 2020, ' Towards easy setup of robotic assembly tasks ', Advanced Robotics, vol. 34, no. 7-8, pp. 499-513 . https://doi.org/10.1080/01691864.2019.1704869

There is a growing need for adaptive robotic assembly systems that are fast to setup and reprogram when new products are introduced. The World Robot Challenge at World Robot Summit 2018 was centered around the challenge of setting up a flexible robot

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::710b8b02fbc0e3fba10995a908d9462c
https://doi.org/10.1080/01691864.2019.1704869

Adapting Learning by Demonstration for Robot Based Part Feeding Applications

Autor: Simon Mathiesen, Christoffer Sloth, Inigo Iturrate, Miha Deniša, Aljaz Kramberger

Publikováno v: Kramberger, A, Iturrate, I, Deniša, M, Mathiesen, S & Sloth, C 2020, Adapting Learning by Demonstration for Robot Based Part Feeding Applications . in Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII . IEEE, pp. 954-959, 2020 IEEE/SICE International Symposium on System Integration (SII), Honolulu, Hawaii, United States, 12/01/2020 . https://doi.org/10.1109/SII46433.2020.9026191
SII

Feeding parts in automated manufacturing processes lack the adaptation flexibility to rapid production changes, which are typical for small to medium enterprises. In this paper we present a novel application approach for feeding parts, which can be i

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f1d704cd38adf6d2366d7ba8c6c1d929
https://portal.findresearcher.sdu.dk/da/publications/127ce5e8-e0b4-4486-bdfb-d3840b644f61

Improving the Generalizability of Robot Assembly Tasks Learned from Demonstration via CNN-based Segmentation

Autor: Inigo Iturrate, Esben Hallundbak Ostergaard, Vincent Duchaine, Etienne Roberge, Thiusius Rajeeth Savarimuthu

Publikováno v: CASE
Iturrate, I, Roberge, E, Ostergaard, E H, Duchaine, V & Savarimuthu, T R 2019, Improving the Generalizability of Robot Assembly Tasks Learned from Demonstration via CNN-based Segmentation . in 2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019 . IEEE, IEEE International Conference on Automation Science and Engineering, vol. 2019-August, pp. 553-560, 15th IEEE International Conference on Automation Science and Engineering, CASE 2019, Vancouver, Canada, 22/08/2019 . https://doi.org/10.1109/COASE.2019.8843029

Kinesthetic teaching and Dynamic Movement Primitives (DMPs) enable fast and adaptable learning of robot tasks based on a human demonstration. A task encoded as a dynamic movement primitive can be reused with a different goal position, albeit with a r

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::6d268d694deab566e3fdb92a0069408e
https://doi.org/10.1109/coase.2019.8843029

Learning and Correcting Robot Trajectory Keypoints from a Single Demonstration

Autor: Thiusius Rajeeth Savarimuthu, Inigo Iturrate, Esben Hallundbaek Ostergaard, Martin Rytter

Publikováno v: Iturrate, I, Østergaard, E H, Rytter, M & Savarimuthu, T R 2017, Learning and Correcting Robot Trajectory Keypoints from a Single Demonstration . in Proceedings of the 3rd International Conference on Control, Automation and Robotics . IEEE, pp. 52-59, 3rd International Conference on Control, Automation and Robotics, Nagoya, Japan, 24/04/2017 . https://doi.org/10.1109/ICCAR.2017.7942660

Kinesthetic teaching provides an accessible way for non-experts to quickly and easily program a robot system by demonstration. A crucial aspect of this technique is to obtain an accurate approximation of the robot’s intended trajectory for the task

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::98f176a7ea9e3332c62ffeb7b34f3f04
https://portal.findresearcher.sdu.dk/da/publications/e1e004a3-0927-4433-a75f-4ce4169347a4