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This paper presents an approach to supervisory control of a DaVinci surgical robot. At present, such robots are controlled by teleoperation, with dissimilar kinematics of the operator interface vs. the robot. As a result, it can be difficult for the operator to visualize the kinematic restrictions on the robot, particularly for desired extended, precise trajectories, such as circular needle driving...
In recent years, wheel turning tasks have become of interest in disaster response scenarios. Particularly valve-turning and wheel steering for tasks in which a humanoid drives a vehicle. Most research has focused in valve-turning with dual arm motions to turn the valve as much and as quickly as possible. Valve-turning compared to steer-wheel turning consist of very different constraints due to the...
This paper presents progress towards autonomous knot-tying in Robotic Assisted Minimally Invasive Surgery. While successful demonstrations of robotic knot-tying have been achieved, objective comparisons of competing approaches have been lacking. In this presentation we describe how to score a proposed procedure in terms of speed and volume. Applying the scoring metric has motivated an improved procedure...
Autonomous wall cutting is described using an Atlas humanoid robot. An integrated wall-cutting skill is presented, which only requires an operator to issue supervisory-level commands to prescribe a desired cutting path, leading to autonomous cutting.
In order to realize many of the potential benefits associated with robotically assisted minimally invasive surgery, the robot must be more than a remote controlled device. Currently using a surgical robot can be challenging, fatiguing, and time consuming. Teaching the robot to actively assist surgical tasks, such as suturing, has the potential to vastly improve both patient outlook and the surgeon's...
A means for fast and accurate indoor localization using point-cloud data is presented. A sparse environment model is proposed, comprised of a list of planar patches. It is shown that, with this simplified model, incoming point-cloud data can be associated rapidly with one (or none) of the constituent planes, and the environment model can be fit to the clustered sample points algebraically in a least-squares...
Kinematic planning for performing manipulation tasks with an Atlas humanoid robot is presented. A hybrid analytic/numerical inverse kinematics approach is described, yielding fast solutions. The solution technique supports extensive exploration of manipulation strategies. Task-specific optimization metrics are introduced, leading to manipulation plans for three tasks: acquiring a horizontal cylinder,...
Fast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable...
Fast valve turning is described using an Atlas humanoid robot. An integrated valve-turning skill is presented, which only requires an operator to issue a supervisory command to launch valve identification, motion planning, biped locomotion and valve manipulation. Using compliant motion control in dual-arm, palmar (non-prehensile) manipulation, robust valve turning is achieved at speeds comparable...
This paper presents a vision guided automatic knot-tying method for Robotic Assisted Minimally Invasive Surgery. By utilizing 3D position reconstruction of selection points on images from calibrated stereo cameras and coordinating two robot motions for proper suture handling, we successfully realize an automatic knot-tying procedure. Our experimental results show that autonomous knot-tying has the...
Industrial robotic manipulators have successfully automated many stationary factory tasks, but there exist many other tasks which could be automated given a mobile platform. One such task is kitting, the process of gathering the constituent elements of a larger unit (the “kit”) from inventory. ABBY is a prototype of a low-price industrial mobile manipulator platform chiefly composed of an ABB IRB-120...
Robot Assisted Minimally Invasive Surgery has been successfully used in many surgical procedures. With merits of fast recovery and reduced risk of infection, it has gained favor among patients and surgeons. However, due to the confined workspace for dexterity, poor endoscopic 2D vision, and sensorless instruments, robotic surgical procedures such as suture-pulling, knot-tying and needle-driving are...
This paper presents an algorithm to identify features of the navigation surface in front of a wheeled robot. Recent advances in mobile robotics have brought about the development of smart wheelchairs to assist disabled people, allowing them to be more independent. These robots have a human occupant and operate in real environments where they must be able to detect hazards like holes, stairs, or obstacles...
A limitation of robotic surgery is deprivation of sensation of contact forces. Gentle interactions with tissue are desired, but at the same time kinematic constraints of the access portal must be obeyed. A new combination of previous algorithms of hybrid force/position control and Natural Admittance Control is described that achieves these objectives. This new algorithm is compared to a variation...
High-temperature solid-oxide fuel cells offer high conversion efficiency from heat to electricity. The exhaust from such systems is also attractive as a high-temperature heat source for a Stirling-cycle convertor. An economic and technical analysis is presented illuminating the prospects for adoption of such systems as domestic, distributed energy generators.
Various “biologically-inspired” models of computation have been developed over the years. Though their inception may have been inspired by biology, most are not biologically plausible. The concepts of training neural networks by back propagation and global observers occurs nowhere in nature. In this paper, a novel variation on a Radial-Basis Function (RBF) network is proposed that is biologically...
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