The Experts below are selected from a list of 315 Experts worldwide ranked by ideXlab platform
Guang-zhong Yang - One of the best experts on this subject based on the ideXlab platform.
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Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
IEEE Robotics and Automation Letters, 2018Co-Authors: Pierre Berthet-rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-zhong YangAbstract:The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6 DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different Control Methods were investigated. The Methods are compared through simulation with a user study. Each participant performed the same task using each of the six different Control Methods. Based on the metrics selected, the sparse pseudo-L 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
Pierre Berthet-rayne - One of the best experts on this subject based on the ideXlab platform.
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Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
IEEE Robotics and Automation Letters, 2018Co-Authors: Pierre Berthet-rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-zhong YangAbstract:The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6 DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different Control Methods were investigated. The Methods are compared through simulation with a user study. Each participant performed the same task using each of the six different Control Methods. Based on the metrics selected, the sparse pseudo-L 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
Gauthier Gras - One of the best experts on this subject based on the ideXlab platform.
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Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
IEEE Robotics and Automation Letters, 2018Co-Authors: Pierre Berthet-rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-zhong YangAbstract:The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6 DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different Control Methods were investigated. The Methods are compared through simulation with a user study. Each participant performed the same task using each of the six different Control Methods. Based on the metrics selected, the sparse pseudo-L 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
Philippe Fraisse - One of the best experts on this subject based on the ideXlab platform.
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Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
IEEE Robotics and Automation Letters, 2018Co-Authors: Pierre Berthet-rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-zhong YangAbstract:The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6 DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different Control Methods were investigated. The Methods are compared through simulation with a user study. Each participant performed the same task using each of the six different Control Methods. Based on the metrics selected, the sparse pseudo-L 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
André Crosnier - One of the best experts on this subject based on the ideXlab platform.
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Inverse Kinematics Control Methods for Redundant Snakelike Robot Teleoperation During Minimally Invasive Surgery
IEEE Robotics and Automation Letters, 2018Co-Authors: Pierre Berthet-rayne, Konrad Leibrandt, Gauthier Gras, Philippe Fraisse, André Crosnier, Guang-zhong YangAbstract:The real-time teleoperation or telemanipulation of redundant snakelike robots for minimally invasive surgery in a master-slave configuration is a complex problem. There are many possible mappings between a master's standard 6 degrees of freedom (DOF) and a redundant slave robot, typically with n ≫ 6 DOF. This letter introduces a snakelike robot for ear, nose, and throat surgery. The robot's architecture is comprised of n = 26 joint variables. Six different Control Methods were investigated. The Methods are compared through simulation with a user study. Each participant performed the same task using each of the six different Control Methods. Based on the metrics selected, the sparse pseudo-L 0 and our proposed approach performed better in terms of intuitiveness, real-time capabilities, and overall occupied volume.
