Adaptive Motion Scaling for Robot-Assisted Microsurgery Based on Hybrid Offline Reinforcement Learning and Damping Control.
Peiyang JiangWei LiYifan LiDandan ZhangPublished in: ICRA (2024)
Keyphrases
- robot assisted
- reinforcement learning
- force feedback
- control strategy
- adaptive control
- minimally invasive
- image sequences
- end effector
- optimal control
- control system
- laparoscopic surgery
- control method
- human motion
- robot control
- dynamic model
- real time
- image guided
- mathematical model
- master slave
- coronary artery bypass
- inverse kinematics
- robot manipulators
- motion capture
- humanoid robot
- camera motion