Concept

Robot-assisted surgery

Publications associées (336)

Modular Reconfigurable Robotics

This article reviews the current state of the art in the development of modular reconfigurable robot (MRR) systems and suggests promising future research directions. A wide variety of MRR systems have been presented to date, and these robots promise to be ...

ANNUAL REVIEWS2019

A portable three-degrees-of-freedom force feedback origami robot for human-robot interactions

Jamie Paik, Stefano Mintchev, Marco Salerno, Alexandre Thierry Cherpillod, Simone Scaduto

Haptic interfaces can recreate the experience of touch and are necessary to improve human-robot interactions. However, at present, haptic interfaces are either electromechanical devices eliciting very limited touch sensations or devices that may provide mo ...

SPRINGERNATURE2019

How Fast Is Too Fast? The Role of Perception Latency in High-Speed Sense and Avoid

Davide Scaramuzza

In this letter, we study the effects that perception latency has on the maximum speed a robot can reach to safely navigate through an unknown cluttered environment. We provide a general analysis that can serve as a baseline for future quantitative reasonin ...

2019

Heterogeneous Target Assignment to Robotic Fiber Positioner Systems

Denis Gillet, Jean-Paul Richard Kneib, Matin Macktoobian

The target assignment methods applied to robotic fiber positioners are only applicable to homogeneous sets of targets to be observed. However, different batches of robotic fiber positioners available at the focal plane of a telescope can be simultaneously ...

IEEE2019

Cable-Driven Actuation for Highly Dynamic Robotic Systems

Marco Hutter

This paper presents the design and experimental evaluations of an articulated robotic limb called Capler-Leg. The key element of Capler-Leg is its single-stage cable-pulley transmission combined with a high-gap radius motor. Our cable-pulley system is desi ...

2019

Modular Sensor Fusion for Semantic Segmentation

Roland Siegwart

Sensor fusion is a fundamental process in robotic systems as it extends the perceptual range and increases robustness in real-world operations. Current multi-sensor deep learning based semantic segmentation approaches do not provide robustness to under-per ...

2019

Zero-Learning Fast Medical Image Fusion

Sabine Süsstrunk, Fayez Lahoud

Clinical applications, such as image-guided surgery and noninvasive diagnosis, rely heavily on multi-modal images. Medical image fusion plays a central role by integrating information from multiple sources into a single, more understandable output. We prop ...

2019

Object Grasping of Humanoid Robot Based on YOLO

Daniel Thalmann

This paper presents a system that aims to achieve autonomous grasping for micro-controller based humanoid robots such as the Inmoov robot [1]. The system consists of a visual sensor, a central controller and a manipulator. We modify the open sourced object ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Designing Minimal and Scalable Insect-Inspired Multi-Locomotion Millirobots

Jamie Paik, Zhenishbek Zhakypov, Kazuaki Mori

In ant colonies, collectivity enables division of labour and resources with great scalability. Beyond their intricate social behaviours, individuals of the genus Odontomachus, also known as trap-jaw ants, have developed remarkable multi-locomotion mechanis ...

2019

ALMA - Articulated Locomotion and Manipulation for a Torque-Controllable Robot

Marco Hutter

The task of robotic mobile manipulation poses several scientific challenges that need to be addressed to execute complex manipulation tasks in unstructured environments, in which collaboration with humans might be required. Therefore, we present ALMA, a mo ...

2019

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