Iñigo Iturrate — accepted AI-conference papers

2021

Autonomous Bi-Manual Surgical Suturing Based on Skills Learned from Demonstration

Kim L. Schwaner, Iñigo Iturrate, Jakob K. H. Andersen, Pernille T. Jensen, Thiusius R. Savarimuthu

IROS 2021poster

We present a novel application of Learning from Demonstration to realize a fully autonomous bi-manual surgical suturing task, including needle pick up, insertion, re-grasping, extraction and hand-over. Surgical action primitives are learned from a single human demonstration and encoded into an actio…

Cited by 20 Source ↗Scholar ↗

2019

Towards Reversible Dynamic Movement Primitives

Iñigo Iturrate, Christoffer Sloth, Aljaž Kramberger, Henrik Gordon Petersen, Esben Hallundbæk Østergaard, Thiusius Rajeeth Savarimuthu

IROS 2019poster

In this paper we present an initial approach towards reversible robot movement primitives. Our approach is a modification of Dynamic Movement Primitives (DMPs), a widely used framework for robot learning from demonstration. DMPs are based on dynamical systems to guarantee properties such as converge…

Cited by 13 Source ↗Scholar ↗