5 accepted papers
Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time uncertainties inherent in underwater settings. In this paper, we int
Simulations are highly valuable in marine robotics, offering a cost-effective and controlled environment for testing in the challenging conditions of underwater and surface operations. Given the high costs and logistical difficulties of real-world trials, simulators capable of capturing the operatio
Augmented reality (AR) is considered one of the most promising solutions for safer procedures in several surgical specialities. Fusing patient-specific pre-operative information, typically 3D models extracted from CT scans or MRI, with real-time surgical images allows the surgeon to have detailed in…
Accurate needle insertion is an important task in many medical procedures. This paper studies the case of an autonomous needle insertion system for central venous access, which is a risky and challenging procedure involving the simultaneous manipulation of an ultrasound probe and of a catheterizatio…
This letter presents a novel cascade state estimation framework for the three-dimensional (3-D) center of mass (CoM) estimation of walking humanoid robots. The proposed framework, called State Estimation RObot Walking (SEROW), fuses effectively joint encoder, inertial, feet pressure, and visual odom