— Research on robotic manipulation has mainly focused on manipulating rigid objects so far. However, many important application domains require manipulating deformable objects, e...
— In this paper we address smooth and collision-free whole-body motion planning for humanoid robots. A two-stage iterative planning framework is introduced where geometric motion...
— We explore motion planning for a new class of highly flexible bevel-tip medical needles that can be steered to previously unreachable targets in soft tissue. Planning for thes...
Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Ok...
— In this paper we present a novel framework for computing the steady turning motion of a robotic fish undergoing periodic body and/or tail deformation. Taking the turning radiu...
Qingsong Hu, Dawn R. Hedgepeth, Lihong Xu, Xiaobo ...
—Robotic surgical assistants are enhancing physician performance, enabling physicians to perform more delicate and precise minimally invasive surgery. However, these devices are ...