3 accepted papers
We present a new approach to the stair-climbing problem for robots that rely on actively articulated tracked arms. The robot in question is considered to have a main locomotion system, such as wheels or tracks, and arms that can be controlled to extend the robot's mobility when needed. Further, we a…
This paper presents an accurate and computationally efficient stairway detection algorithm, robust to measurement noise. While most similar methods depend heavily on detecting three-dimensional (3D) features, this work focuses on locating two-dimensional (2D) features embedded in 3D data. The main i…
This paper presents a novel control architecture for controlling a moving remote center of motion in addition to the end-effector motion during robotic surgery. In minimally invasive surgery, it is common to require that the point at which the robot enters the body, called the incision point or the…