Sven Lilge

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
	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: parallel_continuum_robots modeling
2022
	Lilge, Sven; Burgner-Kahrs, Jessica Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots Journal Article IEEE Transactions on Robotics, 2022 BibTeX, DOI, Details | Tags: tendon-driven modeling continuum_robot
	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: matrix_lie_group state_estimation continuum_robot
	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: collaborating_continuum_robots hri teleoperation control
	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: parallel_continuum_robots tendon_driven modeling
2021
	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: concentric_tube surgery modelling
	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: tendon_actuated tendon_driven continuum_robot parallel_continuum_robot
	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: design parallel_continuum_robot tendon_driven continuum_robots collaborating_continuum_robots
	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: tendon_actuated tendon_driven continuum_robot modeling
2020
	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: modeling parallel_continuum_robot tendon_actuated tendon_driven continuum_robot design
	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: continuum_robot machine_learning sensing concentric_tube
	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: calibration control design modeling parallel_continuum robot tendon_actuated tendon_driven continuum_robot
	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: continuum_robot retrospective concentric_tube
2019
	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: continuum_robot machine_learning concentric_tube
	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: continuum_robot shape_constraint concentric_tube
	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: continuum_robot hri teleoperation concentric_tube
	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: extensible modeling tendon_actuated continuum_robot
2018
	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: continuum_robot hri teleoperation concentric_tube
2017
	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: concentric_tube continuum_robot minimally_invasive_surgery trajectory_planning computational_design