IEEE Transactions on Robotics最新文献_第7页

Multiquery Robotic Manipulator Task Sequencing With Gromov-Hausdorff Approximations 基于Gromov-Hausdorff逼近的多查询机器人任务排序

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-24 DOI: 10.1109/TRO.2025.3554404

Fouad Sukkar;Jennifer Wakulicz;Ki Myung Brian Lee;Weiming Zhi;Robert Fitch

{"title":"Multiquery Robotic Manipulator Task Sequencing With Gromov-Hausdorff Approximations","authors":"Fouad Sukkar;Jennifer Wakulicz;Ki Myung Brian Lee;Weiming Zhi;Robert Fitch","doi":"10.1109/TRO.2025.3554404","DOIUrl":"10.1109/TRO.2025.3554404","url":null,"abstract":"Robotic manipulator applications often require efficient online motion planning. When completing multiple tasks, sequence order and choice of goal configuration can have a drastic impact on planning performance. This is well known as the robot task sequencing problem (RTSP). Existing general-purpose RTSP algorithms are susceptible to producing poor-quality solutions or failing entirely when available computation time is restricted. We propose a new multiquery task sequencing method designed to operate in semistructured environments with a combination of static and nonstatic obstacles. Our method intentionally trades off workspace generality for planning efficiency. Given a user-defined task space with static obstacles, we compute a subspace decomposition. The key idea is to establish approximate isometries known as <inline-formula><tex-math>$epsilon$</tex-math></inline-formula>-Gromov-Hausdorff approximations that identify points that are close to one another in both task and configuration space. Importantly, we prove bounded suboptimality guarantees on the lengths of paths within these subspaces. These bounding relations further imply that paths within the same subspace can be smoothly concatenated, which we show is useful for determining efficient task sequences. We evaluate our method with several kinematic configurations in a complex simulated environment, achieving up to 3× faster motion planning and 5× lower maximum trajectory jerk compared to baselines.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2843-2860"},"PeriodicalIF":9.4,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143702796","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty 具有参数不确定性的机器人灵敏度感知模型预测控制

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-24 DOI: 10.1109/TRO.2025.3554415

Tommaso Belvedere;Marco Cognetti;Giuseppe Oriolo;Paolo Robuffo Giordano

{"title":"Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty","authors":"Tommaso Belvedere;Marco Cognetti;Giuseppe Oriolo;Paolo Robuffo Giordano","doi":"10.1109/TRO.2025.3554415","DOIUrl":"10.1109/TRO.2025.3554415","url":null,"abstract":"This article introduces a computationally efficient robust model predictive control (MPC) scheme for controlling nonlinear systems affected by parametric uncertainties in their models. The approach leverages the recent notion of <italic>closed-loop state sensitivity</i> and the associated ellipsoidal tubes of perturbed trajectories for taking into account online time-varying restrictions on state and input constraints. This makes the MPC controller “aware” of potential additional requirements needed to cope with parametric uncertainty, thus significantly improving the tracking performance and success rates during navigation in constrained environments. One key contribution lies in the introduction of a computationally efficient robust MPC formulation with a <italic>comparable computational complexity</i> to a standard MPC (i.e., an MPC not explicitly dealing with parametric uncertainty). An extensive simulation campaign is presented to demonstrate the effectiveness of the proposed approach in handling parametric uncertainties and enhancing task performance, safety, and overall robustness. Furthermore, we also provide an experimental validation that shows the feasibility of the approach in real-world conditions and corroborates the statistical findings of the simulation campaign. The versatility and efficiency of the proposed method make it therefore a valuable tool for real-time control of robots subject to nonnegligible uncertainty in their models.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"3039-3058"},"PeriodicalIF":9.4,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143702802","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Wearable Isokinetic Training Robot for Enhanced Bedside Knee Rehabilitation 用于增强床旁膝关节康复的可穿戴等速训练机器人

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-18 DOI: 10.1109/TRO.2025.3552332

Yanggang Feng;Xingyu Hu;Yuebing Li;Ke Ma;Jiaxin Ren;Zhihao Zhou;Fuzhen Yuan;Yan Huang;Liu Wang;Qining Wang;Wuxiang Zhang;Xilun Ding

{"title":"A Wearable Isokinetic Training Robot for Enhanced Bedside Knee Rehabilitation","authors":"Yanggang Feng;Xingyu Hu;Yuebing Li;Ke Ma;Jiaxin Ren;Zhihao Zhou;Fuzhen Yuan;Yan Huang;Liu Wang;Qining Wang;Wuxiang Zhang;Xilun Ding","doi":"10.1109/TRO.2025.3552332","DOIUrl":"10.1109/TRO.2025.3552332","url":null,"abstract":"Knee pain is prevalent in over 20% of the population, limiting the mobility of those affected. In turn, isokinetic dynamometers and robots have been used to facilitate rehabilitation for those still capable of ambulation. However, there are at most only a few wearable robots capable of delivering isokinetic training for bedridden patients. Here, we developed a wearable robot that provides bedside isokinetic training by utilizing a variable stiffness actuator and dynamic energy regeneration. The efficacy of this device was validated in a study involving six subjects with debilitating knee injuries. During two courses of rehabilitation over a total of three weeks, the average peak torque, average torque, and average work produced by their affected knees increased significantly by 81.0%, 101.4%, and 117.6%, respectively. Furthermore, the device's energy regeneration features were found capable of extending its operating time to 198 days under normal usage, representing a 57.8% increase over the same device without regeneration. These results suggest potential methodologies for delivering isokinetic joint rehabilitation to bedridden patients in areas with limited infrastructure.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2460-2476"},"PeriodicalIF":9.4,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143661154","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

High Resolution, Large Area Vision-Based Tactile Sensing Based on a Novel Piezoluminescent Skin 基于新型压电发光皮肤的高分辨率、大面积视觉触觉传感

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552327

Ruxiang Jiang;Lanhui Fu;Yanan Li;Hareesh Godaba

{"title":"High Resolution, Large Area Vision-Based Tactile Sensing Based on a Novel Piezoluminescent Skin","authors":"Ruxiang Jiang;Lanhui Fu;Yanan Li;Hareesh Godaba","doi":"10.1109/TRO.2025.3552327","DOIUrl":"10.1109/TRO.2025.3552327","url":null,"abstract":"The ability to precisely perceive external physical interactions would enable robots to interact effectively with the environment and humans. While vision-based tactile sensing has improved robotic grippers, it is challenging to realize high resolution vision-based tactile sensing in robot arms due to presence of curved surfaces, difficulty in uniform illumination, and large distance of sensing area from the cameras. In this article, we propose a novel piezoluminescent skin that transduces external applied pressures into changes in light intensity on the other side for viewing by a camera for pressure estimation. By engineering elastomer layers with specific optical properties and integrating a flexible electroluminescent panel as a light source, we develop a compact tactile sensing layer that resolves the layout issues in curved surfaces. We achieved multipoint pressure estimation over an expansive area of 502 cm<sup>2</sup> with high spatial resolution, a two-point discrimination distance of 3 mm horizontally and 5 mm vertically which is comparable to that of human fingers as well as a high localization accuracy (RMSE of 1.92 mm). These promising attributes make this tactile sensing technique suitable for use in robot arms and other applications requiring high resolution tactile information over a large area.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2477-2494"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

CODEI: Resource-Efficient Task-Driven Codesign of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles 应用于自动驾驶汽车的移动机器人感知与决策的资源高效任务驱动协同设计

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552347

Dejan Milojevic;Gioele Zardini;Miriam Elser;Andrea Censi;Emilio Frazzoli

{"title":"CODEI: Resource-Efficient Task-Driven Codesign of Perception and Decision Making for Mobile Robots Applied to Autonomous Vehicles","authors":"Dejan Milojevic;Gioele Zardini;Miriam Elser;Andrea Censi;Emilio Frazzoli","doi":"10.1109/TRO.2025.3552347","DOIUrl":"10.1109/TRO.2025.3552347","url":null,"abstract":"This article discusses the integration challenges and strategies for designing mobile robots, by focusing on the task-driven, optimal selection of hardware and software to balance safety, efficiency, and minimal usage of resources such as costs, energy, computational requirements, and weight. We emphasize the interplay between perception and motion planning in decision-making by introducing the concept of occupancy queries to quantify the perception requirements for sampling-based motion planners. Sensor and algorithm performance are evaluated using false negative rate and false positive rate across various factors such as geometric relationships, object properties, sensor resolution, and environmental conditions. By integrating perception requirements with perception performance, an integer linear programming approach is proposed for efficient sensor and algorithm selection and placement. This forms the basis for a codesign optimization that includes the robot body, motion planner, perception pipeline, and computing unit. We refer to this framework for solving the codesign problem of mobile robots as CODEI, short for codesign of embodied intelligence. A case study on developing an autonomous vehicle for urban scenarios provides actionable information for designers, and shows that complex tasks escalate resource demands, with task performance affecting choices of the autonomy stack. The study demonstrates that resource prioritization influences sensor choice: cameras are preferred for cost-effective and lightweight designs, while lidar sensors are chosen for better energy and computational efficiency.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2727-2748"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps 飞溅导航：安全的实时机器人导航在高斯飞溅地图

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552348

Timothy Chen;Ola Shorinwa;Joseph Bruno;Aiden Swann;Javier Yu;Weijia Zeng;Keiko Nagami;Philip Dames;Mac Schwager

{"title":"Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps","authors":"Timothy Chen;Ola Shorinwa;Joseph Bruno;Aiden Swann;Javier Yu;Weijia Zeng;Keiko Nagami;Philip Dames;Mac Schwager","doi":"10.1109/TRO.2025.3552348","DOIUrl":"10.1109/TRO.2025.3552348","url":null,"abstract":"We present Splat-Nav, a real-time robot navigation pipeline for Gaussian splatting (GSplat) scenes, a powerful new 3-D scene representation. Splat-Nav consists of two components: first, Splat-Plan, a safe planning module, and second, Splat-Loc, a robust vision-based pose estimation module. Splat-Plan builds a safe-by-construction polytope corridor through the map based on mathematically rigorous collision constraints and then constructs a Bézier curve trajectory through this corridor. Splat-Loc provides real-time recursive state estimates given only an RGB feed from an on-board camera, leveraging the point-cloud representation inherent in GSplat scenes. Working together, these modules give robots the ability to recursively replan smooth and safe trajectories to goal locations. Goals can be specified with position coordinates, or with language commands by using a semantic GSplat. We demonstrate improved safety compared to point cloud-based methods in extensive simulation experiments. In a total of 126 hardware flights, we demonstrate equivalent safety and speed compared to motion capture and visual odometry, but without a manual frame alignment required by those methods. We show online replanning at more than 2 Hz and pose estimation at about 25 Hz, an order of magnitude faster than neural radiance field-based navigation methods, thereby enabling real-time navigation.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2765-2784"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640775","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Strategic Decision-Making in Multiagent Domains: A Weighted Constrained Potential Dynamic Game Approach 多智能体领域的战略决策：一种加权约束势动态博弈方法

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552325

Maulik Bhatt;Yixuan Jia;Negar Mehr

{"title":"Strategic Decision-Making in Multiagent Domains: A Weighted Constrained Potential Dynamic Game Approach","authors":"Maulik Bhatt;Yixuan Jia;Negar Mehr","doi":"10.1109/TRO.2025.3552325","DOIUrl":"10.1109/TRO.2025.3552325","url":null,"abstract":"In interactive multiagent settings, decision-making and planning are challenging mainly due to the agents' interconnected objectives. Dynamic game theory offers a formal framework for analyzing such intricacies. Yet, solving constrained dynamic games and determining the interaction outcome in the form of generalized Nash equilibria (GNE) pose computational challenges due to the need for solving constrained coupled optimal control problems. In this article, we address this challenge by proposing to leverage the special structure of many real-world multiagent interactions. More specifically, our key idea is to leverage constrained dynamic potential games, which are games for which GNE can be found by solving a single constrained optimal control problem associated with minimizing the potential function. We argue that constrained dynamic potential games can effectively facilitate interactive decision-making in many multiagent interactions. We will identify structures in realistic multiagent interactive scenarios that can be transformed into weighted constrained potential dynamic games (WCPDGs). We will show that the GNE of the resulting WCPDG can be obtained by solving a single constrained optimal control problem. We will demonstrate the effectiveness of the proposed method through various simulation studies and show that we achieve significant improvements in solve time compared to state-of-the-art game solvers. We further provide experimental validation of our proposed method in a navigation setup involving two quadrotors carrying a rigid object while avoiding collisions with two humans.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2749-2764"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

CoverLib: Classifiers-Equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-Tuned Motion Planning CoverLib：基于迭代问题分布覆盖最大化的分类器装备经验库，用于域调谐运动规划

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552346

Hirokazu Ishida;Naoki Hiraoka;Kei Okada;Masayuki Inaba

{"title":"CoverLib: Classifiers-Equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-Tuned Motion Planning","authors":"Hirokazu Ishida;Naoki Hiraoka;Kei Okada;Masayuki Inaba","doi":"10.1109/TRO.2025.3552346","DOIUrl":"10.1109/TRO.2025.3552346","url":null,"abstract":"Library-based methods are known to be very effective for fast motion planning by adapting an experience retrieved from a precomputed library. This article presents CoverLib, a principled approach for constructing and utilizing such a library. CoverLib iteratively adds an experience-classifier-pair to the library, where each classifier corresponds to an adaptable region of the experience within the problem space. This iterative process is an active procedure, as it selects the next experience based on its ability to effectively cover the uncovered region. During the query phase, these classifiers are utilized to select an experience that is expected to be adaptable for a given problem. Experimental results demonstrate that CoverLib effectively mitigates the tradeoff between plannability and speed observed in global (e.g., sampling-based) and local (e.g., optimization-based) methods. As a result, it achieves both fast planning and high success rates over the problem domain. Moreover, due to its adaptation-algorithm-agnostic nature, CoverLib seamlessly integrates with various adaptation methods, including nonlinear programming-based and sampling-based algorithms.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2911-2930"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640773","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Modeling, Embedded Control, and Design of Soft Robots Using a Learned Condensed FEM Model 基于压缩有限元模型的软体机器人建模、嵌入式控制与设计

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552353

Tanguy Navez;Etienne Ménager;Paul Chaillou;Olivier Goury;Alexandre Kruszewski;Christian Duriez

{"title":"Modeling, Embedded Control, and Design of Soft Robots Using a Learned Condensed FEM Model","authors":"Tanguy Navez;Etienne Ménager;Paul Chaillou;Olivier Goury;Alexandre Kruszewski;Christian Duriez","doi":"10.1109/TRO.2025.3552353","DOIUrl":"10.1109/TRO.2025.3552353","url":null,"abstract":"The finite element method (FEM) is a powerful modeling tool for predicting soft robots' behavior, but its computation time can limit practical applications. In this article, a learning-based approach based on condensation of the FEM model is detailed. The proposed method handles several kinds of actuators and contacts with the environment. We demonstrate that this compact model can be learned as a unified model across several designs and remains very efficient in terms of modeling since we can deduce the direct and inverse kinematics of the robot. Building upon the intuition introduced in (Ménager et al., 2023), the learned model is presented as a general framework for modeling, controlling, and designing soft manipulators. First, the method's adaptability and versatility are illustrated through optimization-based control problems involving positioning and manipulation tasks with mechanical contact-based coupling. Second, the low-memory consumption and the high prediction speed of the learned condensed model are leveraged for real-time embedding control without relying on costly online FEM simulation. Finally, the ability of the learned condensed FEM model to capture soft robot design variations and its differentiability are leveraged in calibration and design optimization applications.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2441-2459"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640491","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Safe Start Regions for Medical Steerable Needle Automation 医疗导向针自动化的安全启动区域

IF 9.4 1区计算机科学

IEEE Transactions on Robotics Pub Date : 2025-03-17 DOI: 10.1109/TRO.2025.3552323

Janine Hoelscher;Inbar Fried;Spiros Tsalikis;Jason Akulian;Robert J. Webster;Ron Alterovitz

{"title":"Safe Start Regions for Medical Steerable Needle Automation","authors":"Janine Hoelscher;Inbar Fried;Spiros Tsalikis;Jason Akulian;Robert J. Webster;Ron Alterovitz","doi":"10.1109/TRO.2025.3552323","DOIUrl":"10.1109/TRO.2025.3552323","url":null,"abstract":"Steerable needles are minimally invasive devices that can enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. We introduce a new start pose robustness metric for steerable needle motion plans. A steerable needle deployment typically consists of a physician manually placing a steerable needle at a precomputed start pose on the surface of tissue and handing off control to a robot, which then autonomously steers the needle through the tissue to the target. The handoff between humans and robots is critical for procedure success, as even small deviations from a planned start pose change the steerable needle's reachable workspace. Our metric is based on a novel geometric method to efficiently compute how far the physician can deviate from the planned start pose in both position and orientation such that the steerable needle can still reach the target. We evaluate our metric through simulation in liver and lung scenarios. Our evaluation shows that our metric can be applied to plans computed by different steerable needle motion planners and that it can be used to efficiently select plans with large safe start regions.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"2424-2440"},"PeriodicalIF":9.4,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143640776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0