16 citations · 55 across the 12 of their papers we have counts for
13 papers · 1 filter
DigiArm: An Anthropomorphic 3D-Printed Prosthetic Hand with Enhanced Dexterity for Typing Tasks
Dean Zadok, Tom Naamani, Yuval Bar-Ratson +5
Despite recent advancements, existing prosthetic limbs are unable to replicate the dexterity and intuitive control of the human hand. Current control systems for prosthetic hands a…
Incremental Generalized Hybrid A*
Sidharth Talia, Oren Salzman, Siddhartha Srinivasa
We address the problem of efficiently organizing search over very large trees, which arises in many applications ranging from autonomous driving to aerial vehicles. Here, we are mo…
Toward Certifiable Motion Planning for Medical Steerable Needles
Mengyu Fu, Oren Salzman, Ron Alterovitz
Medical steerable needles can move along 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steera…
Computationally-Efficient Roadmap-based Inspection Planning via Incremental Lazy Search
Mengyu Fu, Oren Salzman, Ron Alterovitz
The inspection-planning problem calls for computing motions for a robot that allow it to inspect a set of points of interest (POIs) while considering plan quality (e.g., plan lengt…
Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search
Mengyu Fu, Alan Kuntz, Oren Salzman +1
Inspection planning, the task of planning motions that allow a robot to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robo…
Generalized Lazy Search for Robot Motion Planning: Interleaving Search and Edge Evaluation via Event-based Toggles
Aditya Mandalika, Sanjiban Choudhury, Oren Salzman +1
Lazy search algorithms can efficiently solve problems where edge evaluation is the bottleneck in computation, as is the case for robotic motion planning. The optimal algorithm in t…