82 citations · 300 across the 11 of their papers we have counts for
11 papers
Dynamic Modeling of Branched Robots using Modular Composition
Frederico Fernandes Afonso Silva, Bruno Vilhena Adorno
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even…
Adaptive Constrained Kinematic Control using Partial or Complete Task-Space Measurements
Murilo Marques Marinho, Bruno Vilhena Adorno
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume t…
Dynamics of Mobile Manipulators using Dual Quaternion Algebra
Frederico F. A. Silva, Juan J. Quiroz-Omaña, Bruno V. Adorno
This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Eule…
DQ Robotics: a Library for Robot Modeling and Control
Bruno Vilhena Adorno, Murilo Marques Marinho
Dual quaternion algebra and its application to robotics have gained considerable interest in the last two decades. Dual quaternions have great geometric appeal and easily capture p…
Whole-Body Control with (Self) Collision Avoidance using Vector Field Inequalities
Juan José Quiroz-Omaña, Bruno Vilhena Adorno
This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for…
Robust H-infinity kinematic control of manipulator robots using dual quaternion algebra
Luis Felipe Cruz Figueredo, Bruno Vilhena Adorno, João Yoshiyuki Ishihara
This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncer…
Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators
Heitor J. Savino, Luciano C. A. Pimenta, Julie A. Shah +1
This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bod…
A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces
Murilo M. Marinho, Bruno V. Adorno, Kanako Harada +5
In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and ro…
Active Constraints using Vector Field Inequalities for Surgical Robots
Murilo M. Marinho, Bruno V. Adorno, Kanako Harada +1
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but is still underrepresented in deep brain neurosurgery and endonasal surgery where the workspa…
Dynamic Active Constraints for Surgical Robots using Vector Field Inequalities
Murilo M. Marinho, Bruno V. Adorno, Kanako Harada +1
Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as dee…
Hybrid Kinematic Control for Rigid Body Pose Stabilization using Dual Quaternions
Hugo T. M. Kussaba, Luis F. C. Figueredo, João Y. Ishihara +1
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hys…