110 citations · 361 across the 53 of their papers we have counts for
5 papers · 2 filters
Real-Time Constrained 6D Object-Pose Tracking of An In-Hand Suture Needle for Minimally Invasive Robotic Surgery
Zih-Yun Chiu, Florian Richter, Michael C. Yip
Autonomous suturing has been a long-sought-after goal for surgical robotics. Outside of staged environments, accurate localization of suture needles is a critical foundation for au…
Suture Thread Spline Reconstruction from Endoscopic Images for Robotic Surgery with Reliability-driven Keypoint Detection
Neelay Joglekar, Fei Liu, Ryan Orosco +1
Automating the process of manipulating and delivering sutures during robotic surgery is a prominent problem at the frontier of surgical robotics, as automating this task can signif…
Differentiable Robotic Manipulation of Deformable Rope-like Objects Using Compliant Position-based Dynamics
Fei Liu, Entong Su, Jingpei Lu +2
Robot manipulation of rope-like objects is an interesting problem that has some critical applications, such as autonomous robotic suturing. Solving for and controlling rope is diff…
Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control
Mrinal Verghese, Nikhil Das, Yuheng Zhi +1
Real-time robot motion planning in complex high-dimensional environments remains an open problem. Motion planning algorithms, and their underlying collision checkers, are crucial t…
Parameter Identification and Motion Control for Articulated Rigid Body Robots Using Differentiable Position-based Dynamics
Fei Liu, Mingen Li, Jingpei Lu +2
Simulation modeling of robots, objects, and environments is the backbone for all model-based control and learning. It is leveraged broadly across dynamic programming and model-pred…