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 |
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Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links Journal Article Frontiers in Robotics and AI, 9:1082185, 2023 |
2022 |
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Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots Journal Article IEEE Transactions on Robotics, 39(2):1563-1579, 2023 |
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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 |
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Cooperative control of dual-arm concentric tube continuum robots Inproceedings International Conference on Manipulation, Automation and Robotics at Small Scales, 2022 |
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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 |
2021 |
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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 |
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Task-Based Autonomous Control of A Dual Arm Concentric Tube Continuum Robot For Single-Port Surgery Inproceedings Hamlyn Symposium on Medical Robotics, 2021 |
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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 |
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How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance Journal Article Frontiers in Robotics and AI, 7 (630245), pp. 20, 2021 |
2020 |
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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 |
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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 |
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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 |
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CTCR Prototype Development - An Obstacle in the Research Community? Inproceedings RSS 2020 Workshop RobRetro, 2020 |
2019 |
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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 |
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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 |
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Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot Journal Article Journal of Medical Robotics Research, 4 (2), pp. 1950004, 2019 |
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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 |
2018 |
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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 |
2017 |
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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 |