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This paper presents a novel strategy to learn a positional controller for the body of a flexible surgical manipulator used for minimally invasive surgery. The manipulator is developed within the STIFF-FLOP European project and is targeted for a laparoscopi ...
Performing remote manipulation tasks by teleoperation with limited bandwidth, communication delays and environmental differences is a challenging problem. In this paper, we learn a task-parameterized generative model from the teleoperator demonstrations us ...
We develop approximate inference and learning methods for facilitating the use of probabilistic modeling techniques motivated by applications in two different areas. First, we consider the ill-posed inverse problem of recovering an image from an underdeter ...
In nature, manipulators have evolved into different morphologies with varying rigidity to accomplish different tasks. Soft and continuum tentacles of the octopus, rigid and strong pincers of the crab and ligamentous jointed fingers of the human demonstrate ...
In surgical to industrial manipulation, the operator needs assistance for tasks requiring more than two hands. Teamwork may be the source of errors and inefficiency, especially if the assistant is a novice or unfamiliar with the main operator. The need for ...
This paper presents an algorithm to calculate mechanical stability margins of a Modular Snake Robot (MSR) during scouting poses. Scouting poses are defined as robot configurations in which one or two of the end modules of the robot are raised up to increas ...
The Cellulo robots are small tangible robots that are designed to represent virtual interactive point-like objects that reside on a plane within carefully designed learning activities. In the context of these activities, our robots not only display autonom ...
Adapting to uncertain environments is a key obstacle in the development of robust robotic object manipulation systems, as there is a trade-off between the computationally expensive methods of handling the surrounding complexity, and the real-time requireme ...
Decision making and planning with partial state information is a problem faced by all forms of intelligent entities. The formulation of a problem under partial state information leads to an exorbitant set of choices with associated probabilistic outcomes m ...
In this paper, we propose a taxonomy of handwriting errors exhibited by children as a way to build adequate strategies for integration with a co-writing peer. The exploration includes the collection of letters written by children in an initial study, which ...
