Motion planning for a multi-arm surgical robot using both sampling-based algorithms and motion primitives

The paper describes a motion planning and control software architecture developed for the automation of a surgical robot. The considered surgical robot is a dual-arm prototype developed with a redundant and modular mechanical structure, designed to be reconfigured for different surgical tasks, and w...

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Bibliographic Details

Published in:	2015 IEEE RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 1422 - 1427
Main Authors:	Preda, Nicola, Manurung, Auralius, Lambercy, Olivier, Gassert, Roger, Bonfe, Marcello
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.09.2015
Subjects:	Kinematics Manipulators Medical robotics Planning Robot kinematics Yarn
Online Access:	Get full text
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