13 citations · 15 across the 10 of their papers we have counts for
3 papers · 1 filter
Vision and Contact based Optimal Control for Autonomous Trocar Docking
Christopher E. Mower, Martin Huber, Huanyu Tian +4
Future operating theatres will be equipped with robots to perform various surgical tasks including, for example, endoscope control. Human-in-the-loop supervisory control architectu…
Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion
Huanyu Tian, Martin Huber, Christopher E. Mower +4
In this study, we introduce a novel shared-control system for key-hole docking operations, combining a commercial camera with occlusion-robust pose estimation and a hand-eye inform…
Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System
Huanyu Tian, Martin Huber, Christopher E. Mower +4
This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avo…