A novel 4-DOFs origami enabled, SMA actuated, robotic end-effector for minimally invasive surgery.
Marco SalernoKetao ZhangArianna MenciassiJian S. DaiPublished in: ICRA (2014)
Keyphrases
- degrees of freedom
- end effector
- minimally invasive surgery
- surgical robot
- robotic arm
- robotic manipulator
- motion planning
- pose estimation
- force feedback
- position control
- control law
- path planning
- robotic systems
- configuration space
- robot arm
- control scheme
- real time
- mobile robot
- viewpoint
- surgical procedures
- reinforcement learning
- three dimensional