Zobrazeno 1 - 10
of 74
pro vyhledávání: '"Kuntz, Alan"'
Autor:
Mizutani, Yosuke, Salomao, Daniel Coimbra, Crane, Alex, Bentert, Matthias, Drange, Pål Grønås, Reidl, Felix, Kuntz, Alan, Sullivan, Blair D.
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and efficiently
Externí odkaz:
http://arxiv.org/abs/2407.00251
Automating robotic surgery via learning from demonstration (LfD) techniques is extremely challenging. This is because surgical tasks often involve sequential decision-making processes with complex interactions of physical objects and have low toleran
Externí odkaz:
http://arxiv.org/abs/2404.07185
Tendon-driven continuum robot kinematic models are frequently computationally expensive, inaccurate due to unmodeled effects, or both. In particular, unmodeled effects produce uncertainties that arise during the robot's operation that lead to variabi
Externí odkaz:
http://arxiv.org/abs/2404.04241
Autor:
Cho, Brian Y., Esser, Daniel S., Thompson, Jordan, Thach, Bao, Webster III, Robert J., Kuntz, Alan
Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required to plan a
Externí odkaz:
http://arxiv.org/abs/2404.03816
The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models in robotic
Externí odkaz:
http://arxiv.org/abs/2401.00678
Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal has been ob
Externí odkaz:
http://arxiv.org/abs/2309.14463
Autor:
Cho, Brian Y., Kuntz, Alan
Robotic surgical subtask automation has the potential to reduce the per-patient workload of human surgeons. There are a variety of surgical subtasks that require geometric information of subsurface anatomy, such as the location of tumors, which neces
Externí odkaz:
http://arxiv.org/abs/2309.10154
Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous parameters to d
Externí odkaz:
http://arxiv.org/abs/2305.04449
Microsurgery is a particularly impactful yet challenging form of surgery. Robot assisted microsurgery has the potential to improve surgical dexterity and enable precise operation on such small scales in ways not previously possible. Intraocular micro
Externí odkaz:
http://arxiv.org/abs/2302.07252
Publikováno v:
IEEE Access, vol. 10, pp. 80999-81019, Jul. 2022
Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving difficult-to-reach regions in the human body. Planning motions safely within constrained anatomi
Externí odkaz:
http://arxiv.org/abs/2211.16452