David Navarro-Alarcon

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— In this brief, we address the robust force regulation problem of mechanical systems in physical interaction with compliant environments. The control method that we present is entirely derived under the energy shaping framework. Note that for compliant interactions, standard energy shaping methods (i.e., potential shaping controls using static-state(More)
Despite the recent progress in physically interactive and surgical robotics, the active deformation of compliant objects remains an open problem. The main obstacle to its implementation comes from the difficulty to identify or estimate the object's deformation model. In this paper, we propose a novel vision-based deformation controller for robot(More)
In this paper, we analyse and present a control approach using the energy shaping formulation to explicitly regulate the applied force of a robot manipulator in contact with a purely elastic environment. The potential energy of the robot-environment system is shaped in a way that its local equilibrium implies the application of the desired force onto the(More)
In this paper, we propose a new vision-based controller to actively deform an unknown elastic object. Note that most deformation controllers in the literature require a-priori knowledge of the object's deformation properties. In contrast to this trend, we present a new Lyapunov-based method that online estimates the unknown deformation Jacobian matrix,(More)
Despite the recent progress in physically interactive and surgical robotics, the active deformation of compliant objects remains an open problem. The main obstacle comes from the difficulty to identify/estimate the object's deformation properties. This paper presents a new visually servoed deformation controller for unknown elastic objects. The control law(More)
In this paper, we address the active deformation control of compliant objects by robot manipulators. The control of deformations is needed to automate several important tasks, for example, the manipulation of soft tissues, shaping of food materials, or needle insertion. Note that in many of these applications, the object's deformation properties are not(More)
— In this paper, we address the global exponential stability problem of perturbed mechanical systems in free-motion and interacting with passive environments. Particularly, we are interested in incorporating an exponentially stable response to a robust passivity-based control design. We formulate and analyse the stability of the proposed controllers based(More)
Remote center of motion (RCM) mechanisms are widely used in surgical robots to mechanically constrain the position of a certain point in the operation space. Examples of well-known RCM mechanisms include parallelogram mechanisms, spherical linkages, circular guiding arcs, etc. In this paper, a reinforced circular-guided RCM mechanism is presented. In the(More)
This paper presents a new robotic system that assists surgeons in manipulating the endoscope during nasal surgical procedures. The presented robotic system has four degrees of freedom (DOF) arm with a wire-driven double parallelogram mechanism to control the three orientation angles and the insertion depth of the endoscope in the nasal cavity in a decoupled(More)