5 papers · 1 filter
Hybrid Offline-Online Reinforcement Learning for Sensorless, High-Precision Force Regulation in Surgical Robotic Grasping
Edoardo Fazzari, Omar Mohamed, Khalfan Hableel +2
Precise grasp force regulation in tendon-driven surgical instruments is fundamentally limited by nonlinear coupling between motor dynamics, transmission compliance, friction, and d…
Deep-Learning-Based Control of a Decoupled Two-Segment Continuum Robot for Endoscopic Submucosal Dissection
Yuancheng Shao, Yao Zhang, Jia Gu +7
Manual endoscopic submucosal dissection (ESD) is technically demanding, and existing single-segment robotic tools offer limited dexterity. These limitations motivate the developmen…
A Survey on Soft Robot Adaptability: Implementations, Applications, and Prospects
Zixi Chen, Di Wu, Qinghua Guan +8
Soft robots, compared to rigid robots, possess inherent advantages, including higher degrees of freedom, compliance, and enhanced safety, which have contributed to their increasing…
ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration
Anup Teejo Mathew, Daniel Feliu-Talegon, Yusuf Abdullahi Adamu +5
The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine…
Soft Contact Simulation and Manipulation Learning of Deformable Objects with Vision-based Tactile Sensor
Jianhua Shan, Yuhao Sun, Shixin Zhang +7
Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformatio…