5 papers
A Deployable Bio-inspired Compliant Leg Design for Enhanced Leaping in Quadruped Robots
Yiyang Chen, Yuxin Liu, Jinzheng Zhou +4
Quadruped robots are becoming increasingly essential for various applications, including industrial inspection and catastrophe search and rescue. These scenarios require robots to…
Needle Biopsy And Fiber-Optic Compatible Robotic Insertion Platform
Fanxin Wang, Yikun Cheng, Chuyuan Tao +2
Tissue biopsy is the gold standard for diagnosing many diseases, involving the extraction of diseased tissue for histopathology analysis by expert pathologists. However, this proce…
DBaS-Log-MPPI: Efficient and Safe Trajectory Optimization via Barrier States
Fanxin Wang, Haolong Jiang, Chuyuan Tao +2
Optimizing trajectory costs for nonlinear control systems remains a significant challenge. Model Predictive Control (MPC), particularly sampling-based approaches such as the Model…
MPPI-DBaS: Safe Trajectory Optimization with Adaptive Exploration
Fanxin Wang, Yikun Cheng, Chuyuan Tao
In trajectory optimization, Model Predictive Path Integral (MPPI) control is a sampling-based Model Predictive Control (MPC) framework that generates optimal inputs by efficiently…
Transformer Based Tissue Classification in Robotic Needle Biopsy
Fanxin Wang, Yikun Cheng, Sudipta S Mukherjee +2
Image-guided minimally invasive robotic surgery is commonly employed for tasks such as needle biopsies or localized therapies. However, the nonlinear deformation of various tissue…