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©2017 by UCSD Advanced Robotics and Controls Lab

COMPLETE CONFERENCE AND JOURNAL PUBLICATIONS

2019

Forward Kinematics Kernel for Improved Proxy Collision Checking

N Das, MC Yip

arXiv preprint arXiv:1910.06451, 2019. [pdf]

SuPer: A Surgical Perception Framework for Endoscopic Tissue Manipulation with Surgical Robotics

Y Li, F Richter, J Lu, EK Funk, RK Orosco, J Zhu, MC Yip

arXiv preprint arXiv:1909.05405, 2019. [pdf][website]

Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation

M Verghese, F Richter, A Gunn, P Weissbrod, M Yip

arXiv preprint arXiv:1909.00450, 2019. [pdf]

ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments

D.A. Schreiber*, F. Richter*, A. Bilan**, P.V. Gavrilov**, L.H. Man**, C.H. Price**, K.C. Carpenter, M.C. Yip;

*/** denote equal contributions

arXiv preprint arXiv:1909.11641, 2019. [pdf][website]

Robotic Artificial Muscles: Current Progress and Future Perspectives

J. Zhang, J. Sheng, C.T. O'Neill, C. J. Walsh, R. J. Wood, JH. Ryu, J.P Desai, M.C. Yip

IEEE Transactions on Robotics, vol. 35, no. 3,  pp. 761- 781, 2019.  [pdf]

Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Planners

A.H.Qureshi, Y. Miao, A.Simeonov, M.C. Yip

arXiv preprint arXiv:1907.06013, 2019. [arxiv][website]

Composing Ensembles of Policies with Deep Reinforcement Learning

A.H.Qureshi, J.J. Johnson, Y. Qin, B. Boots, M.C. Yip

arXiv preprint arXiv:1905.10681, 2019. [arxiv][website]

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners 

D. A. Schreiber, D. B. Shak, A. M. Norbash, M. C. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Nov. 4-8, Macau, China, 2019 (to appear)[arxiv][vid]

Neural Path Planning: Fixed Time, Near-Optimal Path Generation via Oracle Imitation

M.J. Bency, A.H. Qureshi, M.C. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Nov. 4-8, Macau, China, 2019 (to appear). [pdf]

Open-Sourced Reinforcement Learning Environments for Surgical Robotics 

F. Richter, R. K. Orosco, M.C. Yip

arXiv preprint arXiv:1903.02090, 2019. [arxiv][vid][git]

Learning-Based Proxy Collision Detection for Robot Motion Planning Applications

N.Das, M.C. Yip

arXiv preprint arXiv:1902.08164, 2019. [arxiv] [vid]

 

Motion Planning Networks

A.H.Qureshi, A.Simeonov, M.J.Bency, M.C. Yip

IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][[website,vid]

 

Augmented Reality Predictive Displays to Help Mitigate the Effects of Delayed Telesurgery

F. Richter, Y.F. Zhang, Y.H. Zhi, R.K. Orosco, M.C. Yip

IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][vid]

 

Motion Scaling Solutions for Improved Performance in High Delay Surgical Teleoperation.

F. Richter, R.K. Orosco, M.C. Yip

IEEE International Conference on Robotics and Automation - ICRA2019. May 20-24, 2019. Montreal, Canada. (Accepted). [pdf][vid]

 

Adversarial Imitation via Variational Inverse Reinforcement Learning.

A.H.Qureshi, B. Boots, M.C. Yip

International Conference on Learning Representations- ICLR2019. May 6-9, 2019. New Orleans, Louisiana. (Accepted). [pdf][website,vid]

 

CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures

DA Schreiber, H Jiang, G Li, J Yu, Z Yu, R Zhu, AM Norbash, MC Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS) Workshop paper. Nov. 3-8, 2019. Macau.

arXiv preprint arXiv:1910.03063, 2019. [pdf]

2018

 

Deeply Informed Neural Sampling for Robot Motion Planning

A.H. Qureshi, M.C. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS), Oct. 1-5, Madrid, Spain, 2018.  pp. 6582-6588. [pdf][website]

 

Vision-based Force Feedback Estimation for Robot-assisted Surgery using Instrument-constrained Biomechanical 3D Maps

N. Haouchine, W. Kuang, S. Cotin, M.C. Yip

IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2160 - 2165, 2018. [pdf][vid]

 

Bundled Super-Coiled Polymer Artificial Muscles: Design, Characterization, and Modeling

A. Simeonov, T. Henderson, Z. Lan, G. Sundar, A. Factor, J. Zhang and M. C. Yip

IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1671-1678,2018[pdf][vid]

 

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles

J. Zhang, A. Simeonov and M. C. Yip

Smart Materials and Structures,  vol. 27, no. 3, p. 035002, 2018. [pdf]

 

New adaptive scaling strategies lowers the barrier to telerobotic surgery in communication-delayed, far-forward environments

F. Richter, Z. Ye, W. Xu, A. Bamford, E. Wirtz, R. Orosco, S. Hong, M. Yip

Abstract, Military Health Systems Research Symposium, Kissimmee, FL, Aug. 20-23, 2018.

 

Variable-Stiffness Robot Orthosis enables Dynamic Activities in Limb-salvage Veterans

T. West, A. Lucas, R. Nayak, A. Liang, J. Collins, R. Miltenberger, T. Kingsbury, M. Wyatt, M. Yip

Abstract, Military Health Systems Research Symposium, Kissimmee, FL, Aug. 20-23, 2018.

 

Adversarial Reward and Policy learning Via Variational Inverse Optimal Control
A. Qureshi, M.C. Yip
Bay Area Machine Learning Symposium – BayLearn 2018, Menlo Park, CA, August 13, 2018.

2017

Fastron: An Online Learning-Based Model and Active Learning Strategy for Proxy Collision Detection

N. Das, N. Gupta, M. Yip

Conference on Robot Learning. November 13-15, Mountain View, California, in Proceedings of Machine Learning Research (PMLR), vol. 78, pp. 496-504, 2017. [pdf][vid]

 

Robot Autonomy for Surgery

M. Yip, N. Das
Encyclopedia of Medical Robotics, World Scientific Publishing, pp. 281-313, 2017. [pdf]

 

Three-Dimensional Hysteresis Modeling of Robotic Artificial Muscles with Application to Shape Memory Alloy Actuators

J. Zhang, M. Yip

Robotics: Science and Systems. July 12-16, Cambridge, Massachusetts, 8 pages. 2017. ISBN 978-0-9923747-3-0. [pdf]

 

Spurring Innovation in Spatial Haptics: How Open-Source Hardware Can Turn Creativity Loose On March 2017 Cover

M. Yip and J. Forsslund

IEEE Robotics and Automation Magazine, vol. 24, no. 1, pp. 65 - 76, 2017. [pdf]

 

On Control and Properties of Super-coiled Polymer Actuators 

M. Yip and G. Niemeyer

IEEE Transactions on Robotics, vol. 33, no. 3, pp. 689-699, 2017. [pdf]

 

Modeling and Inverse Compensation of Hysteresis in Supercoiled Polymer Artificial Muscles

J. Zhang, K. Iyer, A. Simeonov and M. C. Yip

IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 773-780, 2017. [pdf]

 

Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators 

J. Zhang and M. C. Yip

, in Robotics: Science and Systems workshop: Material Robotics -- Bridging Materials Science and Robotics, 2017 


Fastron: A Learning-Based Configuration Space Model for Rapid Collision Detection for Gross Motion Planning in Changing Environments

N. Das, N. Gupta, and M. C. Yip

Robotics: Science and Systems, in the workshop: (Empirically) Data-Driven Manipulation, 2017.

 

Telesurgical Robotic Operative Network:  Addressing signal latency in telesurgery with machine learning development using microsurgical platform

S. Hong, R. Orosco, M. Yip, S. Bevans, E. Wirtz, K. Groom, M. Tabata, J. Zhou, V. Divi, J. Robitschek, J. Sterbis, F. Holsinger.

Military Health Systems Research Symposium, Kissimmee, FL, Aug. 26-29, 2017.

 

Screw-propelled endoscopic robot

Kevin Cheng, Andrew Saad, Dmitrii Votintcev, Elaine Tanaka, Michael Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Continuum Robots in Medicine: Design, Integration, and Applications, Vancouver, Canada, Sept. 23, 2017.

 

Robot Control of Endoscopic Instruments using Flexible Polymer Sheath

Aaron Gunn, Mrinal Verghese, Wesly Wong, Phil Weissbrod, M. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Continuum Robots in Medicine: Design, Integration, and Applications, Vancouver, Canada, Sept. 23, 2017.

 

MRI guided hyper-redundant biopsy robot

D. Schreiber, A. Norbash, M. Yip

IEEE/RSJ Int. Conference on Intelligent Robots and Systems. In Workshop: Medical Imaging Robots, Vancouver, Canada, Sept. 28, 2017.

2016

Designing Muscle-Powered Robotics using Super-coiled Polymers 

J. Zhang and M. Yip

Robotics: Science and Systems. In workshop: Robot Makers: The future of digital rapid design and fabrication of robots. June 18-21, 2016. Ann-Arbor, Michigan. [pdf] 

 

Autonomous Control of Continuum Robot Manipulators for Complex Cardiac Ablation Tasks 

M. Yip, J. Sganga, D. Camarillo

Journal of Medical Robotics Research, vol. 1, no. 2, pp. 1750002, 2017. [pdf] 

 

Model-less Hybrid Position/Force Control: A Minimalist Approach to Continuum Manipulator Control in Unknown EnvironmentsWon the 2016 Best Paper Award for all IEEE Robotics and Automation Letters. 

M. Yip and D. Camarillo

IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 844-851, 2016. [pdf]

An Instrumented Glove for Improving Spasticity Assessment

S. Padmaja, P. Jonnalagedda, F. Deng, K. Douglas, L. Chukoskie, M. Yip, T.N. Ng, T. Nguyen, A. Skalsky, H. Garudadri,

IEEE-NIH 2016 Special Topics Conference on Healthcare Innovations and Point-of-Care Technologies. Nov 9-11, Cancun, Mexico. 4 pages. 2016.

2015

High-Performance Robotic Muscles from Conductive Nylon Sewing Thread | Best paper award finalist

M. Yip and G. Niemeyer

IEEE International Conference on Robotics and Automation - ICRA2015. May 26-30, 2015. Seattle, WA. pp. 2313-2318.  [pdf][vid]

 

WoodenHaptics: A Starting Kit for Crafting Force-Reflecting Spatial Haptic Devices 

J. Forsslund, M. Yip and E-L. Sallnas

Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction - TEI2015. pp. 133-140. ACM, 2015. [pdf]

2014

Model-less Feedback Control of Continuum Manipulators in Constrained Environments

M. Yip and D. Camarillo

IEEE Transactions on Robotics, vol. 30, no. 4, pp. 880-889, 2014. [pdf]

 

Six Degree of Freedom Measurements of Human Mild Traumatic Brain Injury

F. Hernandez, L. Wu, M. Yip, A. Hoffman, J. Lopez, G. Grant, S. Kleiven and D. Camarillo

Annals of Biomedical Engineering. Article ID s10439-014-1212-4. pp. 1-16, 2014.[pdf]

 

Model-less Control of a Flexible Robotic Catheter | Best paper award.

M. Yip, P. Wang, and D. Camarillo

IEEE International Conference on Robotics and Automation - ICRA2014: Workshop on Advances in Flexible Robotics for Medical Applications, May 31-June 7, 2014. Hong Kong.[pdf]

 

Prediction of Human Mild Traumatic Brain Injury in Multiple Dimensions

M. Yip*, L. Wu*, F. Hernandez, J. Schooler, K. Bui, B. Hammoor, E. Ortega, G. Yock, J. Lopez, A. Hoffman, G. Grant and D. Camarillo

World Congress on Biomechanics. July 6-11, 2014. Boston, Massachussetts. (*co-first author)

 

Linear and Rotational Measurements of Human Mild Traumatic Brain Injury 

F. Hernandez, L. Wu, M. Yip and D. Camarillo

Tenth World Congress on Brain Injury, March 19-22, 2014, San Francisco, California.

 

Finite Element Simulation of Brain Deformation from Six Degree of Freedom Acceleration Measurements of Mild Traumatic Brain Injury

F. Hernandez, L. Wu, M. Yip, A. Hoffman, J. Lopez, G. Grant, S. Kleiven and D. Camarillo

National Neurotrauma Society, Jun 29-Jul 2, 2014, San Francisco, California.

2013

Ultrasound-Based Image Guidance for Robot-Assisted Laparoscopic Radical Prostatectomy: Initial in-vivo results 

O. Mohareri, C. Schneider, T. Adebar, M. Yip, P. Black, C. Nguan, D. Bergman, J. Seroger, S. DiMaio and S. Salcudean

Proceedings from of Information Processing for Computer-Assisted Intervention - IPCAI 2013, Lecture Notes in Computer Science, no. 7915, pp. 40-50, 2013. [pdf]

2012

Tissue Tracking and Registration for Image-Guided Surgery 

M. Yip, D. Lowe, S. Salcudean, R. Rohling and C. Nguan

IEEE Transactions on Medical Imaging, vol. 31, no. 11, pp. 2169-2182, 2012.[pdf]

 

Registration of 3D Ultrasound through an Air–Tissue Boundary 

T. Adebar, M. Yip, S. Salcudean, R. Rohling, C. Nguan and L. Goldenberg

IEEE Transactions on Medical Imaging, vol. 31, no. 11, pp. 2133-2142, 2012.[pdf]

Real-time Methods for Long-Term Tissue Feature Tracking in Endoscopic Scenes 

M. Yip, D. Lowe, S. Salcudean, R. Rohling and C. Nguan

Proceedings from of Information Processing for Computer-Assisted Intervention - IPCAI 2012, pp. 33-43. [pdf]

2011

Performance Analysis of a Haptic Telemanipulation Task under Time Delay 

M. Yip, M. Tavakoli and R. Howe

Advanced Robotics, vol. 25, no. 5, pp. 651-673, 2011. [pdf]

2010

A Robust Uniaxial Force Sensor for Minimally Invasive Surgery 

M. Yip, S. Yuen and R. Howe

IEEE Transactions on Biomedical Engineering. vol. 57, no. 5, pp. 1008-1011, 2010. [pdf]

3D Ultrasound to Stereoscopic Camera Registration through an Air-Tissue Boundary 

M. Yip, T. Adebar, R. Rohling, S. Salcudean and C. Nguan

Proceedings from Medical Image Computing and Computer-Assisted Intervention - MICCAI 2010, Lecture Notes in Computer Science, no. 6362, pp. 626-634, 2010.[pdf]

Performance Analysis of a Manipulation Task in Time-Delayed Teleoperation 

M. Yip, M. Tavakoli and R. Howe

Proceedings from IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2010, pp. 5270-5275, 2010. [pdf]

 

Indirect Low-Intensity Ultrasonic Stimulation for Tissue Engineering
H. Park, M. Yip, J. Kost, J. Kobler, R. Langer, S. Zeitels and B. Chertok

Journal of Tissue Engineering, Article ID 973530, 2010. 9 pages. [pdf]

2009

Robotic Force Stabilization for Beating Heart Intracardiac Surgery 

S. Yuen, M. Yip, N. Vasilyev, D. Perrin, P. del Nido and R. Howe

Proceedings from Medical Image Computing and Computer-Assisted Intervention - MICCAI 2009, Lecture Notes in Computer Science, no. 5761, pp. 26-33, 2009. [pdf]

2007

Intra-operative Laryngoscopic Instrument for Characterizing Vocal Fold Viscoelasticity 

M. Ottensmeyer, M. Yip, C. Walsh, J. Kobler, J. Heaton, and S. Zeitels

Proceedings of ASME BioMed2007, Irvine, CA. pp. 133-134, 2007.

PATENTS

Impact protection system by controlling pressure release

M. Kurt, M. Yip, C. Kuo, M. Fanton, D. Camarillo

U.S. Provisional Patent 62/428,844. Dec. 1, 2016.

Position/Force Control of a Flexible Robot under Model-less Control

M. Yip and D. Camarillo

U.S. Provisional Patent 62/074,475. Nov. 3, 2014.

Model-less Control for Continuum and Redundant Robots

M. Yip and D. Camarillo

U.S. Patent 9,488,971. Nov. 8, 2016.

 

A Method for 3D Ultrasound to Stereoscopic Camera Registration through an Air-Tissue Boundary 

S. Salcudean, M. Yip, T. Adebar, R. Rohling and C. Nguan

U.S. Patent Application 2012 0071757 A1. Mar. 22, 2011.