Planning and Control
Our research on planning and control is concerned with the development of efficient and real-time algorithms for computation, modeling, motion generation as well as task- and situation adaptive control of continuum robots. We further investigate optimization methods for task- and application specific parameterization of continuum manipulators.
Trajectory generation and motion planning for continuum robots requires the development of scalable algorithms as the number of degrees of freedom is high and we are facing underactuation. While probabilistic methods lead to sufficient first results, we are investigating motion planning algorithms which consider the morphology of continuum robots.
Interview with Prof. Jessica Burgner-Kahrs
Jessica Burgner-Kahrs was interviewed on optimization algorithms for the platform Latest Thinking in November 2016.
J. Granna, I.S. Godage, R. Wirz, K.D. Weaver, R.J. Webster III, J. Burgner-Kahrs:
A 3D Volume Coverage Path Planning Algorithm with Application to Intracerebral Hemorrhage Evacuation.
IEEE Robotics and Automation Letters, 1(2):876-883 , 2016
Task-specific Design of Tubular Continuum Robots for Surgical Applications.
Soft Robotics – Transferring Theory to Application, A. Verl, A. Albu-Schäffer, O. Brock, A. Raatz (Eds.), 222-230, Springer, 2015.
C. Fellmann, J. Burgner-Kahrs:
Implications of Trajectory Generation Strategies for Tubular Continuum Robots.
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 202-208, 2015.
Y. Guo, J. Granna, K.D. Weaver, R.J. Webster III, J. Burgner-Kahrs:
Comparison of Optimization Algorithms for a Tubular Aspiration Robot for Maximum Coverage in Intracerebral Hemorrhage Evacuation.
The Hamyln Symposium on Medical Robotics, pp. 11-12, 2015.