2020

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Stochastic Modeling of Distance to Collision for Robot Manipulators

N. Das, M.C. Yip

arXiv preprint arXiv:2005.14391, 2020. [pdf]

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SuPer Deep: A Surgical Perception Framework for Robotic Tissue Manipulation using Deep Learning for Feature Extraction

J. Lu, A. Jayakumari, F. Richter, Y. Li, M.C. Yip

arXiv preprint arXiv:2003.03472, 2020. [pdf][vid]

ARTEMIS: Mixed-Reality Environment for Immersive Surgical Telementoring

N. Weibel, J. Johnson, T. Sharkey, Z. Robin Xu, E. Zavala, K. Davis, D. Gasques, X. Zhang, M.C. Yip

Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing Systems, 2020.

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SOLAR-GP: Sparse, Online, Locally Adaptive Regression using Gaussian Processes for Bayesian Robot Model Learning and Control
B. P. Wilcox, M.C. Yip
IEEE Robotics and Automation Letters. vol. 5, no.2, pp. 2832-2839, April 2019. [website]

Vibration-based Multi-Axis Force Sensing: Design, Characterization, and Modeling
W. Kuang, M.C. Yip, J. Zhang
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3082-3089.

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Composing Task-Agnostic Policies with Deep Reinforcement Learning

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

International Conference on Learning Representations- ICLR2020. April 26-30, 2020. Addis Ababa, Ethiopia. (Accepted). [arxiv][website]

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Forward Kinematics Kernel for Improved Proxy Collision Checking

N Das, MC Yip

IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2349-2356, April 2020. [arxiv]

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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

IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2294-2301, April 2020. [arxiv][website]

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

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

*/** denote equal contributions

IEEE Conference on Robotics and Automation (Accepted). Paris, France (2020).  [arxiv][website]

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Autonomous Navigation in Unknown Environments using Sparse Kernel-based Occupancy Mapping
T. Duong, N. Das, M.C. Yip, N. Atanasov
IEEE Conference on Robotics and Automation (Accepted). Paris, France (2020). [arxiv]

ARTEMIS: Mixed-Reality Environment for Immersive Surgical Telementoring
N. Weibel, D. Gasques, J. Johnson, T. Sharkey, Z.Q. Robin Xu, X.M. Zhang, M.C. Yip, K. Davis
Computer Human Interaction (CHI), 2020 Demonstrations Paper. (Accepted).

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2019

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

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

International Symposium on Robotics Research (ISRR), Oct. 6-10, Hanoi, Vietnam, 2019. arXiv:1909.00450, 2019. [pdf]

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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]

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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]

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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]

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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]

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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]

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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]

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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. [pdf]

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.

PATENTS

Machine Learning based Fixed-Time Optimal Path Generation

Michael Yip, Mayur Bency, Ahmed Qureshi

U.S. Patent 16222706. Jun 20, 2019.

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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.

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

M. Yip and D. Camarillo

U.S. Patent 10,434,644. Nov. 3, 2014.

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Model-less Control for Continuum and Redundant Robots

M. Yip and D. Camarillo

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

Ultrasound Registration 

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

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