9 accepted papers
Identifying the dynamic properties of manipulated objects is essential for safe and accurate robot control. Most methods rely on low-noise force-torque sensors, long exciting signals, and solving nonlinear optimization problems, making the estimation process slow. In this work, we propose a fast, on
Model-based controllers using a linearized model around the system’s equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a wheeled humanoid robot while it lifts an unknown object present…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command humanoids but requires more physical and mental demand. To mitigate
Robotic systems capable of Dynamic Mobile Manipulation (DMM) tasks combine dynamic manipulation and locomotion and could facilitate dangerous or physically demanding labor. For instance, firefighter humanoid robots could leverage their body by leaning against collapsed building rubble to push it asi…
Control of wheeled humanoid locomotion is a challenging problem due to the nonlinear dynamics and under-actuated characteristics of these robots. Traditionally, feedback controllers have been utilized for stabilization and locomotion. However, these methods are often limited by the fidelity of the u…
Tendon-sheath mechanisms offer a means for a flexible surgical robot to be operated efficiently in restricted environments, for example, the long and narrow paths inside human organs. However, nonlinear hysteresis interferes with the precise motion control of a flexible robot. Generally, the charact
Hysteresis causes difficulties in precisely controlling motion of flexible surgery robots and degrades the surgical performance. In order to reduce hysteresis, model-based feed-forward and feedback-based methods using endoscopic cameras have been suggested. However, model-based methods show limited
The use of the tendon-sheath mechanism (TSM) is common in flexible surgery robots, because it can flexibly work in limited spaces and provides efficient power transmission. However, hysteresis from nonlinearities such as friction and backlash poses a challenge in controlling precise motion in the su…
Single-incision laparoscopic surgery (SILS) has emerged as a procedure to further improve cosmetic profits and reduce the postoperative pain of multiport laparoscopic surgery. However, SILS is a difficult operation due to the limited workspace or accessibility. To improve surgical convenience, flexi