Zhonghao Wu — accepted AI-conference papers

2022

Inverse Kinematics and Dexterous Workspace Formulation for 2-Segment Continuum Robots With Inextensible Segments

Yifan Wang, Zhonghao Wu, Longfei Wang, Bo Feng, Kai Xu

RA-L 2022

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

Cited by 12 Source ↗Scholar ↗

2019

Design of a Modular Continuum-Articulated Laparoscopic Robotic Tool With Decoupled Kinematics

Zhonghao Wu, Qi Li, Jiangran Zhao, Jiangping Gao, Kai Xu

RA-L 2019

Robot-assisted laparoscopic minimally invasive surgery has gained significant attentions due to its enhanced dexterity, improved precision, natural eye-hand coordination, etc. In these procedures, stick-like surgical tools with distal wrists are usually maneuvered by multiple patient-side manipulato

Cited by 31 Source ↗Scholar ↗