110 citations · 361 across the 53 of their papers we have counts for
11 papers · 2 filters
Forward Kinematics Kernel for Improved Proxy Collision Checking
Nikhil Das, Michael C. Yip
Kernel functions may be used in robotics for comparing different poses of a robot, such as in collision checking, inverse kinematics, and motion planning. These comparisons provide…
CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures
Dimitri A. Schreiber, Hanpeng Jiang, Guosong Li +5
Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle…
ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments
Dimitri A. Schreiber, Florian Richter, Andrew Bilan +5
This paper presents the design and performance of a screw-propelled redundant serpentine robot. This robot comprises serially linked, identical modules, each incorporating an Archi…
SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics
Yang Li, Florian Richter, Jingpei Lu +4
Traditional control and task automation have been successfully demonstrated in a variety of structured, controlled environments through the use of highly specialized modeled roboti…
Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation
Mrinal Verghese, Florian Richter, Aaron Gunn +2
We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated u…
Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Planners
Ahmed H. Qureshi, Yinglong Miao, Anthony Simeonov +1
This paper describes Motion Planning Networks (MPNet), a computationally efficient, learning-based neural planner for solving motion planning problems. MPNet uses neural networks t…