ICRA 2018: Active Constraints Using Vector Field Inequalities for Surgical Robots

MACRO members have recently had a paper accepted to ICRA 2018, which will be held in Brisbane, Australia. The paper, entitled Active Constraints Using Vector Field Inequalities for Surgical Robots, coauthored by Prof. Bruno Adorno with Murilo Marinho, Prof. Harada, and Prof. Mitshuishi from University of Tokyo, deals with the kinematic control of surgical robots in confined spaces. The controller takes into account both equality and inequality constraints, and all constraints are modeled by vector field inequalities related to relevant geometrical primitives, as points, cylinders, planes, and lines.