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GR-LOAM: LiDAR-based sensor fusion SLAM for ground robots on complex terrain 期刊论文
Robotics and Autonomous Systems, 2021, 卷号: 140, 页码: 1-13
Authors:  Su Y(苏赟);  Wang T(王挺);  Shao SL(邵士亮);  Yao C(姚辰);  Wang ZD(王志东)
Adobe PDF(7692Kb)  |  Favorite  |  View/Download:238/14  |  Submit date:2021/03/14
Simultaneous localization and mapping (SLAM)  Ground robot  Encoder  Sensor fusion  Tight coupling scheme  
A Flexible Magnetically Controlled Continuum Robot Steering in the Enlarged Effective Workspace with Constraints for Retrograde Intrarenal Surgery 期刊论文
Advanced Intelligent Systems, 2021, 卷号: 3, 期号: 10, 页码: 1-14
Authors:  Lin DJ(林道京);  Wang JY(王敬依);  Jiao ND(焦念东);  Wang ZD(王志东);  Liu LQ(刘连庆)
Adobe PDF(12197Kb)  |  Favorite  |  View/Download:119/2  |  Submit date:2021/06/18
constraints  Cosserat rod  heterogeneous fields  magnetic continuum robots  retrograde intrarenal surgery  
Data-driven modeling the nonlinear backlash of steerable endoscope under a large deflection cannulation in ERCP surgery 会议论文
2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021, Xining, China, July 15-19, 2021
Authors:  Jiang W(江维);  Yu T(于涛);  He X(何啸);  Yang YM(杨永明);  Wang ZD(王志东);  Liu H(刘浩)
Adobe PDF(2782Kb)  |  Favorite  |  View/Download:38/3  |  Submit date:2021/10/03
Backlash modeling  steerable endoscope  large deflection  cannulation  LSTM  
A Magnetic Continuum Robot with Multi-Mode Control Using Opposite-Magnetized Magnets 期刊论文
IEEE Robotics and Automation Letters, 2021, 卷号: 6, 期号: 2, 页码: 2485-2492
Authors:  Lin DJ(林道京);  Jiao ND(焦念东);  Wang ZD(王志东);  Liu LQ(刘连庆)
Adobe PDF(2138Kb)  |  Favorite  |  View/Download:167/10  |  Submit date:2021/03/14
Dexterous Manipulation  Surgical Robotics  Steerable Catheters/Needles  Flexible Robotics