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cs.RO2026
Video-to-Model: Automatic Modeling of Deformable Linear Objects
Akshun Sharma, Kimia Forghani, Yancy Diaz-Mercado
This paper presents a video-to-model framework for automatically modeling the motion of a deformable suture thread from an input video. We utilize a recently developed CBF--CLF--QP…
cs.RO2026
Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions
Kimia Forghani, Suraj Raval, Lamar Mair +2
Singularities in robotic and dynamical systems arise when the mapping from control inputs to task-space motion loses rank, leading to an inability to determine inputs. This limits…
cs.RO2025
Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery
Kimia Forghani, Suraj Raval, Lamar Mair +2
Automating surgical systems enhances precision and safety while reducing human involvement in high-risk environments. A major challenge in automating surgical procedures like sutur…