13 citations · 53 across the 15 of their papers we have counts for
8 papers · 1 filter
Learning From a Steady Hand: A Weakly Supervised Agent for Robot Assistance under Microscopy
Huanyu Tian, Martin Huber, Lingyun Zeng +7
This paper rethinks steady-hand robotic manipulation by using a weakly supervised framework that fuses calibration-aware perception with admittance control. Unlike conventional aut…
Localising under the drape: proprioception in the era of distributed surgical robotic system
Martin Huber, Nicola A. Cavalcanti, Ayoob Davoodi +15
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disru…
Hydra: Marker-Free RGB-D Hand-Eye Calibration
Martin Huber, Huanyu Tian, Christopher E. Mower +4
This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust poi…
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…
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…
LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots
Martin Huber, Christopher E. Mower, Sebastien Ourselin +2
The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI). It is designed for mission critical hard real-ti…
OpTaS: An Optimization-based Task Specification Library for Trajectory Optimization and Model Predictive Control
Christopher E. Mower, João Moura, Nazanin Zamani Behabadi +3
This paper presents OpTaS, a task specification Python library for Trajectory Optimization (TO) and Model Predictive Control (MPC) in robotics. Both TO and MPC are increasingly rec…
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot Interaction
Christopher E. Mower, Theodoros Stouraitis, João Moura +7
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich manipulation scenarios, an active robotics re…