Sven Lilge is a Ph.D. Student of Computer Science. His research interests are parallel continuum robots as well as motion planning and control for continuum robots.

Before joining CRL in May 2019, Sven was Research Assistant at the Laboratory for Continuum Robotics at Leibniz University Hannover, Germany from February 2017 to April 2019. Sven obtained his M.Sc. in Electrical Engineering from Leibniz University Hannover, Germany in 2016.

Papers

2023

Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links

Lilge, Sven; Wen, Kefei; Burgner-Kahrs, Jessica

Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links Journal Article

Frontiers in Robotics and AI, 9:1082185, 2023

BibTeX, DOI, Details | Tags: modeling parallel_continuum_robots

2022

Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots

Lilge, Sven; Burgner-Kahrs, Jessica

Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots Journal Article

IEEE Transactions on Robotics, 39(2):1563-1579, 2023

BibTeX, DOI, Details | Tags: continuum_robot tendon-driven modeling

Continuum Robot State Estimation Using Gaussian Process Regression in SE(3)

Lilge, Sven; Barfoot, Timothy D.; Burgner-Kahrs, Jessica

Continuum Robot State Estimation Using Gaussian Process Regression in SE(3) Journal Article

The International Journal of Robotics Research, 41(13-14):1099-1120, 2022

BibTeX, DOI, Details | Tags: continuum_robot matrix_lie_group state_estimation

Cooperative control of dual-arm concentric tube continuum robots

Zhang, Hanna J.; Lilge, Sven; Chikhaoui, M. Taha; Burgner-Kahrs, Jessica

Cooperative control of dual-arm concentric tube continuum robots Inproceedings

International Conference on Manipulation, Automation and Robotics at Small Scales, 2022

BibTeX, DOI, Details | Tags: control collaborating_continuum_robots hri teleoperation

Derivation and Evaluation of a Kinetostatic Modeling Approach for Spatial Tendon Driven Parallel Continuum Robots.

Lilge, Sven; Burgner-Kahrs, Jessica

Derivation and Evaluation of a Kinetostatic Modeling Approach for Spatial Tendon Driven Parallel Continuum Robots. Inproceedings

Workshop on New Frontiers of Parallel Robotics. IEEE International Conference on Robotics and Automation, 2022

BibTeX, Details | Tags: modeling parallel_continuum_robots tendon_driven

2021

Design, Modeling and Evaluation of Tendon Driven Parallel Continuum Robots

Lilge, Sven and Burgner-Kahrs, Jessica

Design, Modeling and Evaluation of Tendon Driven Parallel Continuum Robots Inproceedings

Workshop on Parallel Robot or not Parallel Robots? New Frontiers of Parallel Robotics, IEEE International Conference on Robotics and Automation, 2021

BibTeX, Details | Tags: parallel_continuum_robot tendon_actuated tendon_driven continuum_robot

Task-Based Autonomous Control of A Dual Arm Concentric Tube Continuum Robot For Single-Port Surgery

Zhang, Hanna J. and Lilge, Sven and Chikhaoui, Mohamed Taha and Burgner-Kahrs, Jessica

Task-Based Autonomous Control of A Dual Arm Concentric Tube Continuum Robot For Single-Port Surgery Inproceedings

Hamlyn Symposium on Medical Robotics, 2021

BibTeX, Link, Details | Tags: modelling concentric_tube surgery

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

BibTeX, DOI, Details | 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

BibTeX, Link, Details | Tags: modeling tendon_actuated tendon_driven continuum_robot

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

BibTeX, Link, Details | Tags: design modeling parallel_continuum_robot tendon_actuated tendon_driven continuum_robot

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

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot machine_learning sensing

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 Technical Report

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

BibTeX, DOI, Details | Tags: continuum_robot control design modeling parallel_continuum robot tendon_actuated tendon_driven calibration

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

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot retrospective

2019

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, Link, Details | 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, Details | Tags: concentric_tube continuum_robot shape_constraint

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot

Black, David; Lilge, Sven; Fellmann, Carolin; Reinschluessel, Anke V; Kreuer, Lars; Nabavi, Arya; Hahn, Horst K; Kikinis, Ron; Burgner-Kahrs, Jessica

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot Journal Article

Journal of Medical Robotics Research, 4 (2), pp. 1950004, 2019

BibTeX, DOI, Details | Tags: concentric_tube continuum_robot hri teleoperation

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments

Chikhaoui, Mohamed Taha; Lilge, Sven; Kleinschmidt, Simon; Burgner-Kahrs, Jessica

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments Journal Article

IEEE Robotics & Automation Letters, 4 (2), pp. 989 - 996, 2019

BibTeX, DOI, Details | Tags: continuum_robot extensible modeling tendon_actuated

2018

Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots

Lilge, Sven; Black, David; Nabavi, Arya; Burgner-Kahrs, Jessica

Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots Inproceedings

Conference -- 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie (CURAC)At -- Leipzig, Germany, 2018

BibTeX, Link, Details | Tags: concentric_tube continuum_robot hri teleoperation

2017

Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern

Kreuer, L J; Lilge, S; Burgner-Kahrs, J

Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern Inproceedings

16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter-assistierte Chirurgie e.V., pp. 79–84, 2017

BibTeX, Details | Tags: computational_design concentric_tube continuum_robot minimally_invasive_surgery trajectory_planning