4 accepted papers
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems with the same sensor configuration, which are tightly coupled w
Robotic-assisted single-port minimally invasive surgery (MIS) can reduce trauma and shorten hospitalization. However, surgical instruments for robotic single-port surgery usually possess multiple joints without distal joint sensors. Hence, closed-loop control is not directly applied to these joints,
The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution has been obtained for continuum robots with variable segment lengths. Attempting to close the gap towards a complete so
The use of continuum manipulators in surgical applications can be beneficial because of their inherent safety from their structural compliance. However, the tip pose (position and orientation) accuracy of a continuum manipulator can be low when an external load or disturbance is applied. Closed-loop