Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot.
Terence EssombaJuan Sebastián Sandoval ArévaloMed Amine LaribiChieh-Tsai WuCyril BrequeSaïd ZeghloulJean-Pierre RicherPublished in: RAAD (2019)
Keyphrases
- end effector
- degrees of freedom
- inverse kinematics
- parallel robot
- robot manipulators
- robot arm
- vision system
- robotic manipulator
- visual servoing
- mobile robot
- force feedback
- joint space
- force control
- position control
- tactile sensing
- configuration space
- position and orientation
- physical constraints
- sagittal plane
- high level
- motion planning
- robotic arm
- computer supported
- robot navigation
- joint angles
- path planning
- human robot interaction
- formal specification
- autonomous robots
- robotic systems
- virtual reality
- real time
- robot control
- obstacle avoidance
- force sensing
- humanoid robot
- multi robot
- wheeled mobile robots
- kinematic model
- parallel manipulator
- contact force
- control law
- control scheme
- pose estimation
- three dimensional