Safety-Enhanced Motion Planning for Flexible Surgical Manipulator Using Neural Dynamics.
Yanjie ChenWenjun XuZheng LiShuang SongChwee Ming LimYaonan WangHongliang RenPublished in: IEEE Trans. Control. Syst. Technol. (2017)
Keyphrases
- motion planning
- degrees of freedom
- neural dynamics
- inverse kinematics
- minimally invasive surgery
- robotic arm
- path planning
- trajectory planning
- end effector
- robot arm
- laparoscopic surgery
- biological systems
- mobile robot
- pose estimation
- robotic tasks
- humanoid robot
- control system
- mechanical systems
- sensory inputs
- obstacle avoidance
- configuration space
- multi robot
- machine learning
- control law
- robot assisted
- robot manipulators
- robotic systems
- dynamic environments
- viewpoint
- computer vision