D. Caleb Rucker

Publication Activity (10 Years)

Years Active: 2009-2024
Publications (10 Years): 30

Top Topics

Efficient Computation

Minimally Invasive

Top Venues

IEEE Robotics Autom. Lett.

IEEE Trans. Robotics

Publications

Sven Lilge, Kathrin Nuelle, Jake A. Childs, Kefei Wen, D. Caleb Rucker, Jessica Burgner-Kahrs
Parallel-Continuum Robots: A Survey. IEEE Trans. Robotics 40 (2024)
James M. Ferguson, D. Caleb Rucker, Robert J. Webster III
Unified Shape and External Load State Estimation for Continuum Robots. IEEE Trans. Robotics 40 (2024)
AbdulAziz Y. AlKayas, Daniel Feliú Talegon, Anup Teejo Mathew, D. Caleb Rucker, Federico Renda
Shape and Tip Force Estimation of Concentric Tube Robots Based on Actuation Readings Alone. RoboSoft (2023)
Pierre E. Dupont, Nabil Simaan, Howie Choset, D. Caleb Rucker
Continuum Robots for Medical Interventions. Proc. IEEE 110 (7) (2022)
D. Caleb Rucker, Eric J. Barth, Joshua Gaston, James C. Gallentine
Task-Space Control of Continuum Robots using Underactuated Discrete Rod Models. IROS (2022)
Vincent A. Aloi, Khoa T. Dang, Eric J. Barth, D. Caleb Rucker
Estimating Forces Along Continuum Robots. IEEE Robotics Autom. Lett. 7 (4) (2022)
D. Caleb Rucker, Patrick M. Wensing
Smooth Parameterization of Rigid-Body Inertia. IEEE Robotics Autom. Lett. 7 (2) (2022)
Laura H. Blumenschein, Margaret Koehler, Nathan S. Usevitch, Elliot Wright Hawkes, D. Caleb Rucker, Allison M. Okamura
Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots. IEEE Trans. Robotics 38 (3) (2022)
Michael Bentley, D. Caleb Rucker, Alan Kuntz
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning. CoRR (2022)
Michael Bentley, D. Caleb Rucker, Alan Kuntz
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning. IEEE Access 10 (2022)
Kaitlin Oliver-Butler, Jake A. Childs, Adam Daniel, D. Caleb Rucker
Concentric Push-Pull Robots: Planar Modeling and Design. IEEE Trans. Robotics 38 (2) (2022)
D. Caleb Rucker, Jake A. Childs, Parsa Molaei, Hunter B. Gilbert
Transverse Anisotropy Stabilizes Concentric Tube Robots. IEEE Robotics Autom. Lett. 7 (2) (2022)
S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Brendan Michael, Ludovic Renson, Matthew Howard, D. Caleb Rucker, Kaspar Althoefer, Thrishantha Nanayakkara, Steffen Zschaler, Christos Bergeles, Helmut Hauser, Ian D. Walker
: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models. Int. J. Robotics Res. 40 (1) (2021)
Federico Renda, Conor Messer, D. Caleb Rucker, Frédéric Boyer
A Sliding-Rod Variable-Strain Model for Concentric Tube Robots. IEEE Robotics Autom. Lett. 6 (2) (2021)
Jake A. Childs, D. Caleb Rucker
Leveraging Geometry to Enable High-Strength Continuum Robots. Frontiers Robotics AI 8 (2021)
Laura H. Blumenschein, Margaret Koehler, Nathan S. Usevitch, Elliot W. Hawkes, D. Caleb Rucker, Allison M. Okamura
Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots. CoRR (2020)
S. M. Hadi Sadati, Ali Shiva, Nicolas Herzig, D. Caleb Rucker, Helmut Hauser, Ian D. Walker, Christos Bergeles, Kaspar Althoefer, D. P. Thrishantha Nanayakkara
Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings. IEEE Robotics Autom. Lett. 5 (2) (2020)
John Till, Vincent A. Aloi, Katherine E. Riojas, Patrick L. Anderson, Robert J. Webster III, D. Caleb Rucker
A Dynamic Model for Concentric Tube Robots. IEEE Trans. Robotics 36 (6) (2020)
Jake A. Childs, D. Caleb Rucker
Concentric Precurved Bellows: New Bending Actuators for Soft Robots. IEEE Robotics Autom. Lett. 5 (2) (2020)
Vincent A. Aloi, D. Caleb Rucker
Estimating Loads Along Elastic Rods. ICRA (2019)
John Till, Vincent A. Aloi, D. Caleb Rucker
Real-time dynamics of soft and continuum robots based on Cosserat rod models. Int. J. Robotics Res. 38 (6) (2019)
Katherine E. Riojas, Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, D. Caleb Rucker, Robert J. Webster III
A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow. IEEE Trans. Biomed. Eng. 66 (11) (2019)
Seyedmohammadhadi Sadati, Ali Shiva, Seyedeh Elnaz Naghibi, D. Caleb Rucker, Ludovic Renson, Christos Bergeles, Kaspar Althoefer, D. P. Thrishantha Nanayakkara, Helmut Hauser, Ian D. Walker
Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators. Robotics: Science and Systems (2019)
D. Caleb Rucker
Integrating Rotations Using Nonunit Quaternions. IEEE Robotics Autom. Lett. 3 (4) (2018)
Caroline B. Black, John Till, D. Caleb Rucker
Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing. IEEE Trans. Robotics 34 (1) (2018)
John Till, D. Caleb Rucker
Elastic Stability of Cosserat Rods and Parallel Continuum Robots. IEEE Trans. Robotics 33 (3) (2017)
Andrew L. Orekhov, Vincent A. Aloi, D. Caleb Rucker
Modeling parallel continuum robots with general intermediate constraints. ICRA (2017)
John Till, D. Caleb Rucker
Elastic rod dynamics: Validation of a real-time implicit approach. IROS (2017)
Ryan Ponten, Caroline B. Black, Andrew J. Russ, D. Caleb Rucker
Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. Medical Imaging: Image-Guided Procedures (2017)
Andrew L. Orekhov, Caroline B. Black, John Till, Scotty Chung, D. Caleb Rucker
Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator. IEEE Robotics Autom. Lett. 1 (2) (2016)
Andrew L. Orekhov, Caroline E. Bryson, John Till, Scotty Chung, D. Caleb Rucker
A surgical parallel continuum manipulator with a cable-driven grasper. EMBC (2015)
Jessica Burgner-Kahrs, D. Caleb Rucker, Howie Choset
Continuum Robots for Medical Applications: A Survey. IEEE Trans. Robotics 31 (6) (2015)
John Till, Caroline E. Bryson, Scotty Chung, Andrew L. Orekhov, D. Caleb Rucker
Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators. ICRA (2015)
Caroline E. Bryson, D. Caleb Rucker
Toward parallel continuum manipulators. ICRA (2014)
Yifei Wu, D. Caleb Rucker, Rebekah H. Conley, Thomas S. Pheiffer, Amber L. Simpson, Sunil K. Geevarghese, Michael I. Miga
Registration of liver images to minimally invasive intraoperative surface and subsurface data. Medical Imaging: Image-Guided Procedures (2014)
Amber L. Simpson, Kay Sun, Thomas S. Pheiffer, D. Caleb Rucker, Allen K. Sills, Reid Carleton Thompson, Michael I. Miga
Evaluation of Conoscopic Holography for Estimating Tumor Resection Cavities in Model-Based Image-Guided Neurosurgery. IEEE Trans. Biomed. Eng. 61 (6) (2014)
D. Caleb Rucker, Yifei Wu, Logan W. Clements, Janet E. Ondrake, Thomas S. Pheiffer, Amber L. Simpson, William R. Jarnagin, Michael I. Miga
A Mechanics-Based Nonrigid Registration Method for Liver Surgery Using Sparse Intraoperative Data. IEEE Trans. Medical Imaging 33 (1) (2014)
D. Caleb Rucker, Yifei Wu, Janet E. Ondrake, Thomas S. Pheiffer, Amber L. Simpson, Michael I. Miga
Nonrigid liver registration for image-guided surgery using partial surface data: a novel iterative approach. Medical Imaging: Image-Guided Procedures (2013)
Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster III
Concentric Tube Robots: The State of the Art and Future Directions. ISRR (2013)
D. Caleb Rucker, Jadav Das, Hunter B. Gilbert, Philip J. Swaney, Michael I. Miga, Nilanjan Sarkar, Robert J. Webster
Sliding Mode Control of Steerable Needles. IEEE Trans. Robotics 29 (5) (2013)
Hao Su, Diana C. Cardona, Weijian Shang, Alexander Camilo, Gregory A. Cole, D. Caleb Rucker, Robert J. Webster, Gregory S. Fischer
A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study. ICRA (2012)
Philip J. Swaney, Jessica Burgner, Thomas S. Pheiffer, D. Caleb Rucker, Hunter B. Gilbert, Janet E. Ondrake, Amber L. Simpson, Everette Clif Burdette, Michael I. Miga, Robert J. Webster
Tracked 3D ultrasound targeting with an active cannula. Medical Imaging: Image-Guided Procedures (2012)
D. Caleb Rucker, Robert J. Webster III
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading. IEEE Trans. Robotics 27 (6) (2011)
D. Caleb Rucker, Robert J. Webster III
Computing Jacobians and compliance matrices for externally loaded continuum robots. ICRA (2011)
D. Caleb Rucker, Robert J. Webster III
Deflection-based force sensing for continuum robots: A probabilistic approach. IROS (2011)
Jessica Burgner, Philip J. Swaney, D. Caleb Rucker, Hunter B. Gilbert, Scott T. Nill, Paul T. Russell III, Kyle D. Weaver, Robert J. Webster III
A bimanual teleoperated system for endonasal skull base surgery. IROS (2011)
Jordan M. Croom, D. Caleb Rucker, Joseph M. Romano, Robert J. Webster III
Visual sensing of continuum robot shape using self-organizing maps. ICRA (2010)
D. Caleb Rucker, Robert J. Webster III
Mechanics of Continuum Robots with External Loading and General Tendon Routing. ISER (2010)
D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots. IEEE Trans. Robotics 26 (5) (2010)
Emad M. Boctor, Philipp J. Stolka, Hyun-Jae Kang, Clyde Clarke, D. Caleb Rucker, Jordon M. Croom, Everette Clif Burdette, Robert J. Webster
Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance. Medical Imaging: Image-Guided Procedures (2010)
D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III
A model for concentric tube continuum robots under applied wrenches. ICRA (2010)
D. Caleb Rucker, Robert J. Webster III, Gregory S. Chirikjian, Noah J. Cowan
Equilibrium Conformations of Concentric-tube Continuum Robots. Int. J. Robotics Res. 29 (10) (2010)
Ray A. Lathrop, D. Caleb Rucker, Robert J. Webster III
Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing. ICRA (2010)
D. Caleb Rucker, Robert J. Webster
Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation. IEEE Trans. Biomed. Eng. 56 (9) (2009)
D. Caleb Rucker, Robert J. Webster III
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas. ICRA (2009)