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Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks [article]

Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg
2020 arXiv   pre-print

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2020 pre-print
arXiv:2003.08520v1 fatcat:hfblhjmke5g63hmg32syxmu6jy
2020 accepted
arXiv:2003.08520v4 fatcat:avkcmnrkwngmjja42reuoy6lby
2020 pre-print
arXiv:2003.08520v2 fatcat:4icewlgapvcnhjomygmmxz2oyy
These models include linear regression and LSTM recurrent neural networks, each with varying temporal window length to provide compensatory feedback.  ...  We propose a novel approach to efficiently calibrate such robots by placing a 3D printed fiducial coordinate frames on the arm and end-effector that is tracked using RGBD sensing.  ...  CONCLUSION AND FUTURE WORK We presented an efficient method for calibrating to the hysteresis and coupling effects of cable-driven surgical robots.  ... 
arXiv:2003.08520v3 fatcat:33v3qvdlxnfqlinufusfiu5qoq
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Citation

Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg. "Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks." arXiv (2020)

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  

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A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2020; you can also visit the original URL. The file type is application/pdf.

Ruotolo, W., +, LRA April 2020 921-928 Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Fiducial Sensing and Recurrent Neural Networks.  ...  ., +, LRA Oct. 2020 6528-6535 Compliant Control and Compensation for A Compact Cable-Driven Robotic Manipulator.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja
Citation

"2020 Index IEEE Robotics and Automation Letters Vol. 5." IEEE Robotics and Automation Letters 5.4 (2020) 6996-7144

2021 Index IEEE Transactions on Instrumentation and Measurement Vol. 70

2021 IEEE Transactions on Instrumentation and Measurement  

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A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL. The file type is application/pdf.

Article numbers are based on specified topic areas and corresponding codes associated with the publication.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, and article number.  ...  ., +, TIM 2021 1000509 An Underwater Micro Cable-Driven Pan-Tilt Binocular Vision System With Spherical Refraction Calibration.  ... 
doi:10.1109/tim.2022.3156705 fatcat:dmqderzenrcopoyipv3v4vh4ry
Citation

"2021 Index IEEE Transactions on Instrumentation and Measurement Vol. 70." IEEE Transactions on Instrumentation and Measurement (2021) 1-293