3 papers
cs.RO2019
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…
cs.RO2018
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…
cs.RO2018
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…