The tethered magnet: Force and 5-DOF pose control for cardiac ablation.
Christophe ChautemsBradley J. NelsonPublished in: ICRA (2017)
Keyphrases
- robotic manipulator
- pose estimation
- end effector
- position control
- control system
- degrees of freedom
- control scheme
- visual servoing
- human body
- control strategy
- left ventricle
- vision system
- robotic arm
- left atrium
- active control
- contact force
- impedance control
- visual feedback
- position and orientation
- control method
- fully automatic
- d objects