Kanty Rabenorosoa — accepted AI-conference papers

2024

On High Performance Control of Concentric Tube Continuum Robots Through Parsimonious Calibration

Quentin Boyer, Sandrine Voros, Pierre Roux, François Marionnet, Kanty Rabenorosoa, Mohamed Taha Chikhaoui

RA-L 2024

Continuum robots deform continuously, compared to conventional robots composed of rigid links and joints, and require dedicated calibration methods. Indeed, calibration is an essential step to obtain high performance control, as it directly influences robot accuracy. In this letter, we investigate h

Cited by 3 Source ↗Scholar ↗

2022

A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surgery

Dang-Viet-Anh Nguyen, Cédric Girerd, Quentin Boyer, Patrick Rougeot, Olivier Lehmann, Laurent Tavernier +2

RA-L 2022

This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual cholesteatoma. The proposed robotic system combines a concentric tube robot and a wrist at the distal end, actuated by a tendon. We first introduce the surgical protocol through

Cited by 23 Source ↗Scholar ↗

2022

Modeling and Position Control of the HASEL Actuator via Port-Hamiltonian Approach

Yu Yeh, Nelson Cisneros, Yongxin Wu, Kanty Rabenorosoa, Yann Le Gorrec

RA-L 2022

This paper deals with the modeling and control problem of a Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator based on the port-Hamiltonian framework. A nonlinear spring-damper system is used to approximate the mechanical deformation of the actuator due to the motion of the fluid w

Cited by 11 Source ↗Scholar ↗

2020

SLAM-Based Follow-the-Leader Deployment of Concentric Tube Robots

Cedric Girerd, Andrey V. Kudryavtsev, Patrick Rougeot, Pierre Renaud, Kanty Rabenorosoa, Brahim Tamadazte

RA-L 2020

This paper deals with an original combination of navigation by simultaneous localization and mapping (SLAM) and follow-the-leader (FTL) deployment for the control of concentric tube robots (CTRs). The objective is to make possible the automatic navigation of such continuum robots within an anatomica

Cited by 20 Source ↗Scholar ↗

2018

Eye-in-Hand Visual Servoing of Concentric Tube Robots

Andrey V. Kudryavtsev, Mohamed Taha Chikhaoui, Aleksandr Liadov, Patrick Rougeot, Fabien Spindler, Kanty Rabenorosoa +3

RA-L 2018

This letter deals with the development of a vision-based controller for a continuum robot architecture. More precisely, the controlled robotic structure is based on three-tube concentric tube robot (CTR), an emerging paradigm to design accurate, miniaturized, and flexible endoscopic robots. This app

Cited by 46 Source ↗Scholar ↗

2018

Kinematic Analysis of Magnetic Continuum Robots Using Continuation Method and Bifurcation Analysis

Quentin Peyron, Quentin Boehler, Kanty Rabenorosoa, Bradley J. Nelson, Pierre Renaud, Nicolas Andreff

RA-L 2018

Magnetic continuum robots (m-CR) have grown interest in several applicative contexts that take benefits from their high flexibility and remote control. When submitted to external magnetic fields, m-CR exhibit large elastic deformations, which may lead to a highly nonlinear and complex behavior that

Cited by 22 Source ↗Scholar ↗

2018

Online Robust Endomicroscopy Video Mosaicking Using Robot Prior

Benoit Rosa, Bassem Dahroug, Brahim Tamadazte, Kanty Rabenorosoa, Patrick Rougeot, Nicolas Andreff +1

RA-L 2018

This letter discusses the development of a mosaicking algorithm for building large- and high-resolution confocal images. Due to the nature of optics and vision systems in general, there is still a dilemma between choosing a wide field-of-view and high resolution. The most accepted solution is to opt

Cited by 9 Source ↗Scholar ↗

2017

Towards optical biopsy of olfactory cells using concentric tube robots with follow-the-leader deployment

Cédric Girerd, Kanty Rabenorosoa, Patrick Rougeot, Pierre Renaud

IROS 2017poster

In this paper, we propose to take advantage of concentric tube robots (CTR) properties to design a robotic system for optical biopsies with fiber-based imaging modalities. Follow-the-leader (FTL) deployment, with CTR body following its tip, is being integrated as a design constraint in order to mini…

Cited by 18 Source ↗Scholar ↗

2016

Design and closed-loop control of a tri-layer Polypyrrole based telescopic soft robot

Mohamed Taha Chikhaoui, Amélie Cot, Kanty Rabenorosoa, Patrick Rougeot, Nicolas Andreff

IROS 2016poster

A novel structure of a 2 DoF telescopic soft robot using a tri-layer Polypyrrole (PPy) soft micro-actuator with deployment is presented in this paper. The kinematic model is introduced and the Position Based Visual Servo (PBVS) control with path-planning and obstacle avoidance algorithms is develope…

Cited by 15 Source ↗Scholar ↗