Contact Stability Analysis of Magnetically-Actuated Robotic Catheter Under Surface Motion.
Ran HaoTipakorn GreigarnMurat Cenk ÇavusogluPublished in: ICRA (2020)
Keyphrases
- stability analysis
- kinematic constraints
- nonlinear systems
- control law
- motion tracking
- image sequences
- human body
- optical flow
- mobile robot
- motion planning
- human motion
- beating heart
- real time
- position and orientation
- robotic systems
- camera motion
- pattern recognition
- humanoid robot
- control scheme
- fuzzy model
- closed loop
- x ray
- dynamic programming
- end effector
- clustering algorithm