3 papers
cs.RO2023
Toward Extending Concentric Tube Robot Kinematics for Large Clearance and Impulse Curvature
Zhouyu Zhang, Jia Shen, Junhyoung Ha +1
Concentric Tube Robots (CTRs) have been proposed to operate within the unstructured environment for minimally invasive surgeries. In this letter, we consider the operation scenario…
cs.RO2023
Concentric Tube Robot Redundancy Resolution via Velocity/Compliance Manipulability Optimization
Jia Shen, Yifan Wang, Milad Azizkhani +2
Concentric Tube Robots (CTR) have the potential to enable effective minimally invasive surgeries. While extensive modeling and control schemes have been proposed in the past decade…
cs.RO2020
Enabling Remote Whole-Body Control with 5G Edge Computing
Huaijiang Zhu, Manali Sharma, Kai Pfeiffer +4
Real-world applications require light-weight, energy-efficient, fully autonomous robots. Yet, increasing autonomy is oftentimes synonymous with escalating computational requirement…