6 citations · 11 across the 5 of their papers we have counts for
5 papers
Manipulability maximization in constrained inverse kinematics of surgical robots
Jacinto Colan, Ana Davila, Yasuhisa Hasegawa
In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point.…
Constrained Motion Planning for a Robotic Endoscope Holder based on Hierarchical Quadratic Programming
Jacinto Colan, Ana Davila, Yasuhisa Hasegawa
Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges ca…
LLM-Based Human-Robot Collaboration Framework for Manipulation Tasks
Haokun Liu, Yaonan Zhu, Kenji Kato +3
This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands…
Human Preferences and Robot Constraints Aware Shared Control for Smooth Follower Motion Execution
Qibin Chen, Yaonan Zhu, Kay Hansel +2
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper…
Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation
Yaonan Zhu, Shukrullo Nazirjonov, Bingheng Jiang +6
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic…