5 papers
DASH: A da Vinci Adapter for Serial-link and Humanoid Robots as an Accessible Platform for Surgical Robotics Research
Sara Wickenhiser, Junrong Zhou, Zekai Liang +3
Robotic minimally invasive surgery offers well-documented clinical benefits, but the cost and infrastructure requirements of purpose-built platforms limit access in rural and lower…
SurgFlow: 3D Object-Centric Contact Flow for Surgical Robot Manipulation
Changwei Chen, Xiao Liang, Yinuo Yang +6
Paired video-action demonstrations enable autonomous surgical behavior, but such data is scarce: robots perform roughly 1% of surgeries, while video-only data is abundant. Learning…
ARCSnake V2: Mechanical Adaptations For An Amphibious Multi-Domain Screw-Propelled Snake-Like Robot
Sara Wickenhiser, Lizzie Peiros, Calvin Joyce +8
Robotic exploration in extreme environments, such as caves, oceans, and extraplanetary surfaces, poses significant challenges, specifically locomotion across diverse terrains. Conv…
NASU -- Novel Actuating Screw Unit: Origami-inspired Screw-based Propulsion on Mobile Ground Robots
Calvin Joyce, Jason Lim, Roger Nguyen +5
Screw-based locomotion is a robust method of locomotion across a wide range of media including water, sand, and gravel. A challenge with screws is their significant number of impac…
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media
Jason Lim, Calvin Joyce, Elizabeth Peiros +6
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, inclu…