Task-Based LSTM Kinematic Modeling for a Tendon-Driven Flexible Surgical Robot

Weibang Bai, Francesco Cursi, Xiaotong Guo, +4

IEEE Transactions on Medical Robotics and Bionics

Robot KinematicsEngineeringDexterous ManipulationMechanical EngineeringControl Accuracy +17

WSRender: A Workspace Analysis and Visualization Toolbox for Robotic Manipulator Design and Verification

Dandan Zhang, Francesco Cursi, Guang‐Zhong Yang

IEEE Robotics and Automation Letters

Orocos KinematicsRobot KinematicsHuman-robot Collaborative AssemblyRobotic SystemsEngineering +19

Bayesian Neural Network Modeling and Hierarchical MPC for a Tendon-Driven Surgical Robot With Uncertainty Minimization

Francesco Cursi, Valerio Modugno, Leonardo Lanari, +2

IEEE Robotics and Automation Letters

Robot KinematicsEngineeringDexterous ManipulationMotor ControlSurgery +21

Optimization of Surgical Robotic Instrument Mounting in a Macro–Micro Manipulator Setup for Improving Task Execution

Francesco Cursi, Weibang Bai, Eric M. Yeatman, +1

IEEE Transactions on Robotics

Augmented Neural Network for Full Robot Kinematic Modelling in SE(3)

Francesco Cursi, Weibang Bai, Weiyi Li, +2

IEEE Robotics and Automation Letters

Artificial IntelligenceGeometric LearningRobot KinematicsEngineeringMachine Learning +18

Model Learning With Backlash Compensation for a Tendon-Driven Surgical Robot

Francesco Cursi, Weibang Bai, Eric M. Yeatman, +1

IEEE Robotics and Automation Letters

Robot KinematicsEngineeringDexterous ManipulationBacklash CompensationMotor Control +14

Task Accuracy Enhancement for a Surgical Macro-Micro Manipulator With Probabilistic Neural Networks and Uncertainty Minimization

Francesco Cursi, Weibang Bai, Eric M. Yeatman, +1

IEEE Transactions on Automation Science and Engineering

Adaptive Kinematic Modelling for Multiobjective Control of a Redundant Surgical Robotic Tool

Francesco Cursi, George Mylonas, Petar Kormushev

Robotics

Robot KinematicsRobotic SystemsEngineeringMechanical EngineeringSurgery +23

Dual-arm Coordinated Manipulation for Object Twisting with Human Intelligence

Weibang Bai, Ningshan Zhang, Baoru Huang, +5

2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

Robot KinematicsRobotic SystemsEngineeringRobotic Dual-arm TwistingDexterous Manipulation +19

A Novel Approach for Outlier Detection and Robust Sensory Data Model Learning

Francesco Cursi, Guang‐Zhong Yang

Artificial IntelligenceAnomaly DetectionMachine LearningEngineeringNovel Approach +18