Search Results - "Rucker, Caleb"

Real-time dynamics of soft and continuum robots based on Cosserat rod models by Till, John, Aloi, Vincent, Rucker, Caleb

“…The dynamic equations of many continuum and soft robot designs can be succinctly formulated as a set of partial differential equations (PDEs) based on…”
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Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing by Black, Caroline B., Till, John, Rucker, D. Caleb

“…Parallel continuum robots (PCRs) combine the compactness, simplicity, and compliance of continuum robots with the precision and strength of rigid-link parallel…”
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Elastic Stability of Cosserat Rods and Parallel Continuum Robots by Till, John, Rucker, D. Caleb

“…Classic theories in nonlinear elasticity have increasingly been used to obtain accurate and efficient models for continuum robots and other elastic structures…”
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A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots by Rucker, D Caleb, Jones, Bryan A, Webster, Robert J

“…Continuum robots, which are composed of multiple concentric, precurved elastic tubes, can provide dexterity at diameters equivalent to standard surgical…”
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A Telerobotic System for Transnasal Surgery by Burgner, Jessica, Rucker, D. Caleb, Gilbert, Hunter B., Swaney, Philip J., Russell, Paul T., Weaver, Kyle D., Webster, Robert J.

“…Mechanics-based models of concentric tube continuum robots have recently achieved a level of sophistication that makes it possible to begin to apply these…”
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TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models by Sadati, S.M. Hadi, Naghibi, S. Elnaz, Shiva, Ali, Michael, Brendan, Renson, Ludovic, Howard, Matthew, Rucker, Caleb D., Althoefer, Kaspar, Nanayakkara, Thrishantha, Zschaler, Steffen, Bergeles, Christos, Hauser, Helmut, Walker, Ian D.

“…A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be…”
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Continuum Robots for Medical Applications: A Survey by Burgner-Kahrs, Jessica, Rucker, D. Caleb, Choset, Howie

“…In this paper, we describe the state of the art in continuum robot manipulators and systems intended for application to interventional medicine. Inspired by…”
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Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning by Bentley, Michael, Rucker, Caleb, Kuntz, Alan

“…Tendon-driven robots, where one or more tendons under tension bend and manipulate a flexible backbone, can improve minimally invasive surgeries involving…”
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Leveraging Geometry to Enable High-Strength Continuum Robots by Childs, Jake A, Rucker, Caleb

“…Developing high-strength continuum robots can be challenging without compromising on the overall size of the robot, the complexity of design and the range of…”
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Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading by Rucker, D. C., Webster, R. J.

“…Tendons are a widely used actuation strategy for continuum robots that enable forces and moments to be transmitted along the robot from base-mounted actuators…”
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Evaluation of Conoscopic Holography for Estimating Tumor Resection Cavities in Model-Based Image-Guided Neurosurgery by Simpson, Amber L., Sun, Kay, Pheiffer, Thomas S., Rucker, D. Caleb, Sills, Allen K., Thompson, Reid C., Miga, Michael I.

“…Surgical navigation relies on accurately mapping the intraoperative state of the patient to models derived from preoperative images. In image-guided…”
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Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings by Sadati, S.M.Hadi, Shiva, Ali, Herzig, Nicolas, Rucker, Caleb D., Hauser, Helmut, Walker, Ian D., Bergeles, Christos, Althoefer, Kaspar, Nanayakkara, Thrishantha

“…In this letter, we propose benefiting from load readings at the base of a continuum appendage for real-time forward integration of Cosserat rod model with…”
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Integrating Rotations Using Nonunit Quaternions by Rucker, Caleb

“…In this letter, we propose and demonstrate a method for integration of rotations using nonunit quaternions. Unit quaternions are commonly used to represent…”
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Concentric Push-Pull Robots: Planar Modeling and Design by Oliver-Butler, Kaitlin, Childs, Jake A., Daniel, Adam, Rucker, D. Caleb

“…Concentric push-pull robots (CPPR) combine the simplicity, miniaturization potential, and open lumen of concentric-tube robots with the kinematic advantages…”
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Unified Shape and External Load State Estimation for Continuum Robots by Ferguson, James M., Rucker, D. Caleb, Webster, Robert J.

“…Continuum robots navigate narrow, winding passageways while safely and compliantly interacting with their environments. Sensing the robot's shape under these…”
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Parallel-Continuum Robots: A Survey by Lilge, Sven, Nuelle, Kathrin, Childs, Jake A., Wen, Kefei, Rucker, D. Caleb, Burgner-Kahrs, Jessica

“…Parallel-continuum robots combine the advantages of both parallel and continuum robotics. They offer a compromise between the inherent compliance and…”
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Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots by Blumenschein, Laura H., Koehler, Margaret, Usevitch, Nathan S., Hawkes, Elliot Wright, Rucker, D. Caleb, Okamura, Allison M.

“…Continuum and soft robots can leverage complex actuator shapes to take onuseful shapes while actuating only a few of their many degrees of freedom. Continuum…”
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Continuum Robots for Medical Interventions by Dupont, Pierre E., Simaan, Nabil, Choset, Howie, Rucker, Caleb

“…Continuum robots are not constructed with discrete joints but, instead, change shape and position their tip by flexing along their entire length. Their narrow…”
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Equilibrium Conformations of Concentric-tube Continuum Robots by Rucker, D. Caleb, Webster, Robert J., Chirikjian, Gregory S., Cowan, Noah J.

“…Robots consisting of several concentric, preshaped, elastic tubes can work dexterously in narrow, constrained, and/or winding spaces, as are commonly found in…”
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A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting by Su, Hao, Li, Gang, Rucker, D. Caleb, Webster III, Robert J., Fischer, Gregory S.

“…This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system…”
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