Publications

134 entries « 1 of 7 »

2021

Using Euler Curves to Model Continuum Robots

Rao, Priyanka; Peyron, Quentin; Burgner-Kahrs, Jessica

Using Euler Curves to Model Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation (ICRA) - in press, 2021.

BibTeX | Tags: modeling, tendon-driven continuum robots

Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots

Liang, Nan; Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Learning-based Inverse Kinematics from Shape as Input for Concentric Tube Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation (ICRA) - in press, 2021.

BibTeX | Tags: concentric tube continuum robot, kinematics, machine learning, modeling

Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns

Xu, Yunti; Peyron, Quentin; Kim, Jongwoo; Burgner-Kahrs, Jessica

Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns Inproceedings

4th IEEE International Conference on Soft Robotics (RoboSoft) Accepted, 2021.

BibTeX | Tags: continuum robot, design, extensible, follow-the-leader, origami, tendon-driven continuum robots

Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting

Modes, Vincent; Ortmaier, Tobias; Burgner-Kahrs, Jessica

Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting Journal Article

IEEE Sensors Journal, 21 (5), pp. 6712-6723, 2021.

Abstract | Links | BibTeX | Tags: continuum robot, modeling, shape sensing

Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains

Böttcher, Georg; Lilge, Sven; Burgner-Kahrs, Jessica

Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains Journal Article

IEEE Robotics and Automation Letters, 6 (2), pp. 1272 - 1279, 2021.

Abstract | Links | BibTeX | Tags: collaborating continuum robots, design, parallel continuum robot, tendon-driven continuum robots

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

Rao, Priyanka; Peyron, Quentin; Lilge, Sven; Burgner-Kahrs, Jessica

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance Journal Article

Frontiers in Robotics and AI, 7 (630245), pp. 20, 2021.

Abstract | Links | BibTeX | Tags: continuum robot, modeling, tendon actuated, tendon-driven continuum robots

Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions

Amanov, E; Nguyen, T -D; Burgner-Kahrs, J

Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions Journal Article

International Journal of Robotics Research, 40 (1), pp. 7-23, 2021.

Abstract | Links | BibTeX | Tags: Accuracy, continuum robot, design, extensible, follow-the-leader, tendon actuated, tendon-driven continuum robots

2020

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Lilge, Sven; Nuelle, Kathrin; Böttcher, Georg; Spindeldreier, Svenja; Burgner-Kahrs, Jessica

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis Journal Article

ASME Journal of Mechanisms and Robotics, 13 (1), pp. 011025 (11 pages), 2020.

Abstract | Links | BibTeX | Tags: design, modeling, parallel continuum robot, tendon actuated, tendon-driven continuum robots

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection

Donat, Heiko; Lilge, Sven; Burgner-Kahrs, Jessica; Steil, Jochen J

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection Journal Article

IEEE Transactions on Medical Robotics and Bionics , 2 (4), pp. 619-630, 2020.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, machine learning, sensing

Making sense of the robotized pandemic response: a comparison of global and Canadian robot deployments and success factor

Barfoot, T; Burgner-Kahrs, Jessica; Diller, E; Garg, A; Goldenberg, A; Kelly, J; Liu, X; Naguib, H E; Nejat, G; Schoellig, A P; Shkurti, F; Siegel, H; Sun, Y; Waslander, S L

Making sense of the robotized pandemic response: a comparison of global and Canadian robot deployments and success factor Technical Report

2020.

Abstract | Links | BibTeX | Tags: medical robotics, Robotics

Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation

Nuelle, Kathrin; Sterneck, Tim; Lilge, Sven; Xiong, Dhezu; Burgner-Kahrs, Jessica; Ortmaier, Tobias

Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation Journal Article

IEEE Robotics & Automation Letter, 5 (4), pp. 5811 - 5818, 2020.

Abstract | Links | BibTeX | Tags: calibration, control, design, modeling, parallel continuum robot, tendon actuated, tendon-driven continuum robots

CTCR Prototype Development: An Obstacle in the Research Community?

Grassmann, Reinhard; Lilge, Sven; Le, Phuong; Burgner-Kahrs, Jessica

CTCR Prototype Development: An Obstacle in the Research Community? Inproceedings

RSS 2020 Workshop RobRetro, 2020.

Links | BibTeX | Tags: concentric tube continuum robot, retrospective

Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes

Modes, Vincent; Burgner-Kahrs, Jessica

Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes Journal Article

IEEE Robotics and Automation Letters, 5 (1), pp. 103–110, 2020.

Links | BibTeX | Tags: Accuracy, calibration, concentric tube continuum robot, continuum robot

2019

Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications

Granna, Josephine

Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications PhD Thesis

Leibniz University Hannover, 2019.

Abstract | Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery, trajectory planning

Designing a robotic port system for laparo-endoscopic single-site surgery

Amanov, Ernar

Designing a robotic port system for laparo-endoscopic single-site surgery PhD Thesis

Leibniz University Hannover, 2019.

Abstract | Links | BibTeX | Tags: continuum robot, design, medical robotics, minimally-invasive surgery, soft robot, stiffening, tendon actuated, tendon-driven continuum robots

Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Grassmann, Reinhard; Burgner-Kahrs, Jessica

Smooth Orientation Trajectory Generator Respecting Kinematic Limits Inproceedings

IEEE-RAS International Conference on Humanoid Robots, 2019.

BibTeX | Tags: continuum robot, quaternion, Robotics, trajectory planning

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space

Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space Journal Article

IEEE Robotics and Automation Letters, 4 (4), pp. 4192–4199, 2019.

Links | BibTeX | Tags: continuum robot, quaternion, Robotics

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)

Grassmann, Reinhard; Burgner-Kahrs, Jessica

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3) Inproceedings

Robotics: Science and Systems Conference, 10 pages, 2019.

Links | BibTeX | Tags: concentric tube continuum robot, continuum robot, machine learning, Robotics

Towards Learning Force Sensing for a Concentric Tube Continuum Robot

Donat, Heiko; Lilge, Sven; Steil, Jochen; Burgner-Kahrs, Jessica

Towards Learning Force Sensing for a Concentric Tube Continuum Robot Inproceedings

Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: concentric tube continuum robot, machine learning

Controlling Concentric Tube Robots while Enforcing Shape Constraints

Lilge, Sven; Burgner-Kahrs, Jessica

Controlling Concentric Tube Robots while Enforcing Shape Constraints Inproceedings

Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: concentric tube continuum robot, shape constraint

134 entries « 1 of 7 »