David Navarro-Alarcon

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In this paper, we present a new feedback method to automatically servo-control the 3-D shape of soft objects with robotic manipulators. The soft object manipulation problem has recently received a great deal of attention from robotics researchers because of its potential applications in, e.g., food industry, home robots, medical robotics, and manufacturing.(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)
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 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)
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 positioning problem of remote centre of motion (RCM) mechanisms with uncalibrated image feedback from a monocular camera. Nowadays, RCM mechanisms are widely used in minimally invasive robotic surgery due to their ability to distally rotate a tool around a fixed entry port; note that in most surgical applications, the tools are(More)
In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of(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)