Publications | Bruno Vilhena Adorno, PhD

Peer-reviewed journal papers

2023

Design Requirements of Robotic Systems for Assisting Percutaneous Tracheostomy: A Scoping Review and Development Framework

Yuan Tang , Lutong Li , Zhanghao Lu , Athia Haron , Bruno V. Adorno, Brendan McGrath , and Andrew Weightman

IEEE Transactions on Medical Robotics and Bionics, Nov 2023

Bib HTML

@article{tang_design_2023,
  title = {Design {Requirements} of {Robotic} {Systems} for {Assisting} {Percutaneous} {Tracheostomy}: {A} {Scoping} {Review} and {Development} {Framework}},
  volume = {5},
  issn = {2576-3202},
  shorttitle = {Design {Requirements} of {Robotic} {Systems} for {Assisting} {Percutaneous} {Tracheostomy}},
  url = {https://ieeexplore.ieee.org/document/10234533/},
  doi = {10.1109/TMRB.2023.3309946},
  number = {4},
  urldate = {2023-11-25},
  journal = {IEEE Transactions on Medical Robotics and Bionics},
  author = {Tang, Yuan and Li, Lutong and Lu, Zhanghao and Haron, Athia and Adorno, Bruno V. and McGrath, Brendan and Weightman, Andrew},
  month = nov,
  year = {2023},
  pages = {754--767},
}

2022

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Frederico Fernandes Afonso Silva , Juan José Quiroz-Omaña , and Bruno Vilhena Adorno

Journal of Mechanisms and Robotics, Dec 2022

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This article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.
@article{Silva2020, title = {Dynamics of {Mobile} {Manipulators} {Using} {Dual} {Quaternion} {Algebra}}, volume = {14}, issn = {1942-4302}, doi = {10.1115/1.4054320}, number = {6}, journal = {Journal of Mechanisms and Robotics}, author = {Afonso Silva, Frederico Fernandes and José Quiroz-Omaña, Juan and Vilhena Adorno, Bruno}, month = dec, year = {2022}, keywords = {dual quaternion algebra, constraint, euler-lagrange equations, gauss, gibbs-appell equations, kane, mobile manipulator dynamics, newton-euler model, s equations, s principle of least}, pages = {061005}, }
Manipulation Task Planning and Motion Control Using Task Relaxations

Marcos S. Pereira , and Bruno Vilhena Adorno

Journal of Control, Automation and Electrical Systems, Aug 2022

Publisher: Springer US

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This paper proposes a robotic manipulation task relaxation method applied to a task and motion planning framework adapted from the literature. The task relaxation method consists of defining regions of interest instead of defining the end-effector pose, which can potentially increase the robot’s redundancy with respect to the manipulation task. Tasks are relaxed by controlling the end-effector distance to a target plane while respecting suitable constraints in the task-space. We formulate the problem as a constrained control problem that enforces both equality and inequality constraints while being reactive to changes in the workspace. We evaluate the adapted framework in a simulated pick-and-place task with similar complexity to the one evaluated in the original framework. The number of plan nodes that our framework generates is 54% smaller than the one in the original framework and our framework is faster both in planning and execution time. Also, the end-effector remains within the regions of interest and moves toward the target region while satisfying additional constraints.
@article{Pereira2022, title = {Manipulation {Task} {Planning} and {Motion} {Control} {Using} {Task} {Relaxations}}, volume = {33}, issn = {2195-3880}, doi = {10.1007/s40313-022-00915-0}, number = {4}, journal = {Journal of Control, Automation and Electrical Systems}, author = {Pereira, Marcos S. and Adorno, Bruno Vilhena}, month = aug, year = {2022}, note = {Publisher: Springer US}, keywords = {task planning, Task planning, constrained control, Constrained control, task relaxation, Task relaxation}, pages = {1103--1115}, }

Adaptive Constrained Kinematic Control Using Partial or Complete Task-Space Measurements

Murilo Marques Marinho , and Bruno Vilhena Adorno

IEEE Transactions on Robotics, Dec 2022

Bib HTML Code

@article{Marinho2022,
  title = {Adaptive {Constrained} {Kinematic} {Control} {Using} {Partial} or {Complete} {Task}-{Space} {Measurements}},
  volume = {38},
  issn = {1552-3098},
  doi = {10.1109/TRO.2022.3181047},
  number = {6},
  journal = {IEEE Transactions on Robotics},
  author = {Marinho, Murilo Marques and Adorno, Bruno Vilhena},
  month = dec,
  year = {2022},
  pages = {3498--3513},
}

2021

Task-Space Admittance Controller with Adaptive Inertia Matrix Conditioning

Mariana de Paula Assis Fonseca , Bruno Vilhena Adorno, and Philippe Fraisse

Journal of Intelligent & Robotic Systems, Feb 2021

Publisher: Journal of Intelligent & Robotic Systems ISBN: 1084602001275

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Whenrobots physically interact with the environment, compliant behaviors should be imposed to prevent damages to all entities involved in the interaction. Moreover, during physical interactions, appropriate pose controllers are usually based on the robot dynamics, in which the ill-conditioning of the joint-space inertia matrix may lead to poor performance or even instability. When the control is not precise, large interaction forces may appear due to disturbed end-effector poses, resulting in unsafe interactions. To overcome these problems, we propose a task-space admittance controller in which the inertia matrix conditioning is adapted online. To this end, the control architecture consists of an admittance controller in the outer loop, which changes the reference trajectory to the robot end-effector to achieve a desired compliant behavior; and an adaptive inertia matrix conditioning controller in the inner loop to track this trajectory and improve the closed-loop performance. We evaluated the proposed architecture on a KUKA LWR4+ robot and compared it, via rigorous statistical analyses, to an architecture in which the proposed inner motion controller was replaced by two widely used ones. The admittance controller with adaptive inertia conditioning presents better performance than with a controller based on the inverse dynamics with feedback linearization, and similar results when compared to the PID controller with gravity compensation in the inner loop.
@article{Fonseca2021b, title = {Task-{Space} {Admittance} {Controller} with {Adaptive} {Inertia} {Matrix} {Conditioning}}, volume = {101}, issn = {0921-0296}, doi = {10.1007/s10846-020-01275-0}, number = {2}, journal = {Journal of Intelligent \& Robotic Systems}, author = {Fonseca, Mariana de Paula Assis and Adorno, Bruno Vilhena and Fraisse, Philippe}, month = feb, year = {2021}, note = {Publisher: Journal of Intelligent \& Robotic Systems ISBN: 1084602001275}, keywords = {adaptive control, robot manipulator, Dual quaternion, Adaptive control, Robot manipulator, Ill-conditioning, ill-conditioning, Admittance control, admittance control, dynamic control, Dynamic control}, pages = {41}, }
Robust H∞ kinematic control of manipulator robots using dual quaternion algebra

Luis Felipe da Cruz Figueredo , Bruno Vilhena Adorno, and João Yoshiyuki Ishihara

Automatica, Oct 2021

arXiv: 1811.05436 Publisher: Elsevier Ltd

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This paper proposes a robust dual-quaternion based H-infinity task-space kinematic controller for robot manipulators. To address the manipulator liability to modeling errors, uncertainties, exogenous disturbances, kinematic singularities, and their influence upon the kinematics of the end-effector pose, we adapt H-infinity techniques—suitable only for additive noises—to unit dual quaternions. The noise to error attenuation within the H-infinity framework has the additional advantage of casting aside requirements concerning noise distributions, which are significantly hard to characterize within the group of rigid-body transformations. Using dual quaternion algebra, we provide a connection between performance effects over the end-effector trajectory and different sources of uncertainties and disturbances while satisfying attenuation requirements with minimum instantaneous control effort. The result is an easy-to-implement closed-form H-infinity control design criterion. The effectiveness and performance overview of the proposed strategies are evaluated within different realistic simulated scenarios.
@article{Figueredo2018, title = {Robust {H}∞ kinematic control of manipulator robots using dual quaternion algebra}, volume = {132}, issn = {00051098}, doi = {10.1016/j.automatica.2021.109817}, journal = {Automatica}, author = {Figueredo, Luis Felipe da Cruz and Adorno, Bruno Vilhena and Ishihara, João Yoshiyuki}, month = oct, year = {2021}, note = {arXiv: 1811.05436 Publisher: Elsevier Ltd}, pages = {109817}, }
DQ Robotics: A Library for Robot Modeling and Control

Bruno Vilhena Adorno, and Murilo Marques Marinho

IEEE Robotics & Automation Magazine, Sep 2021

arXiv: 1910.11612 Publisher: IEEE

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Dual quaternion algebra and its application to robotics have gained considerable interest in the last two decades. Dual quaternions have great geometric appeal and easily capture physical phenomena inside an algebraic framework that is useful for both robot modeling and control. Mathematical objects, such as points, lines, planes, infinite cylinders, spheres, coordinate systems, twists, and wrenches are all well defined as dual quaternions. Therefore, simple operators are used to represent those objects in different frames and operations such as inner products and cross products are used to extract useful geometric relationships between them. Nonetheless, the dual quaternion algebra is not widespread as it could be, mostly because efficient and easy-to-use computational tools are not abundant and usually are restricted to the particular algebra of quaternions. To bridge this gap between theory and implementation, this paper introduces DQ Robotics, a library for robot modeling and control using dual quaternion algebra that is easy to use and intuitive enough to be used for self-study and education while being computationally efficient for deployment on real applications.
@article{Adorno2019, title = {{DQ} {Robotics}: {A} {Library} for {Robot} {Modeling} and {Control}}, volume = {28}, issn = {1070-9932}, doi = {10.1109/MRA.2020.2997920}, number = {3}, journal = {IEEE Robotics \& Automation Magazine}, author = {Adorno, Bruno Vilhena and Marques Marinho, Murilo}, month = sep, year = {2021}, note = {arXiv: 1910.11612 Publisher: IEEE}, keywords = {Quaternions, Manipulators, Robot kinematics, Algebra, Libraries, Matlab}, pages = {102--116}, }

2020

Stable-by-Design Kinematic Control Based on Optimization

Vinicius Mariano Goncalves , Bruno Vilhena Adorno, Andre Crosnier , and Philippe Fraisse

IEEE Transactions on Robotics, Jun 2020

Bib HTML

@article{Goncalves2020,
  title = {Stable-by-{Design} {Kinematic} {Control} {Based} on {Optimization}},
  volume = {36},
  issn = {1552-3098},
  doi = {10.1109/TRO.2019.2963665},
  number = {3},
  journal = {IEEE Transactions on Robotics},
  author = {Goncalves, Vinicius Mariano and Adorno, Bruno Vilhena and Crosnier, Andre and Fraisse, Philippe},
  month = jun,
  year = {2020},
  pages = {644--656},
}

Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators

Heitor J. Savino , Luciano C.A. Pimenta , Julie A. Shah , and Bruno V. Adorno

Journal of the Franklin Institute, Jan 2020

arXiv: 1810.08871 Publisher: Elsevier Ltd

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This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the agents’ poses and also in the distributed control laws, making the proposed technique easily applicable to time-varying formation control of general robotic systems. The proposed pose consensus protocol has guaranteed convergence when the interaction among the agents is represented by directed graphs with directed spanning trees, which is a more general result when compared to the literature on formation control. In order to illustrate the proposed pose consensus protocol and its extension to the problem of formation control, we present a numerical simulation with a large number of free-flying agents and also an application of cooperative manipulation by using real mobile manipulators.
@article{Savino2020, title = {Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators}, volume = {357}, issn = {00160032}, doi = {10.1016/j.jfranklin.2019.09.045}, number = {1}, journal = {Journal of the Franklin Institute}, author = {Savino, Heitor J. and Pimenta, Luciano C.A. and Shah, Julie A. and Adorno, Bruno V.}, month = jan, year = {2020}, note = {arXiv: 1810.08871 Publisher: Elsevier Ltd}, pages = {142--178}, }

Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping

Mariana de Paula Assis Fonseca , Bruno Vilhena Adorno, and Philippe Fraisse

IEEE Robotics and Automation Letters, Oct 2020

Bib HTML

@article{Fonseca2020a,
  title = {Coupled {Task}-{Space} {Admittance} {Controller} {Using} {Dual} {Quaternion} {Logarithmic} {Mapping}},
  volume = {5},
  issn = {2377-3766},
  doi = {10.1109/LRA.2020.3010458},
  number = {4},
  journal = {IEEE Robotics and Automation Letters},
  author = {Fonseca, Mariana de Paula Assis and Adorno, Bruno Vilhena and Fraisse, Philippe},
  month = oct,
  year = {2020},
  pages = {6057--6064},
}

2019

Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities

Murilo Marques Marinho , Bruno Vilhena Adorno, Kanako Harada , and Mamoru Mitsuishi

IEEE Transactions on Robotics, Oct 2019

arXiv: 1804.11270 Publisher: IEEE

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Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this work, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.
@article{Marinho2019, title = {Dynamic {Active} {Constraints} for {Surgical} {Robots} {Using} {Vector}-{Field} {Inequalities}}, volume = {35}, issn = {1552-3098}, doi = {10.1109/TRO.2019.2920078}, number = {5}, urldate = {2018-05-04}, journal = {IEEE Transactions on Robotics}, author = {Marinho, Murilo Marques and Adorno, Bruno Vilhena and Harada, Kanako and Mitsuishi, Mamoru}, month = oct, year = {2019}, note = {arXiv: 1804.11270 Publisher: IEEE}, pages = {1166--1185}, }
Whole-Body Control With (Self) Collision Avoidance Using Vector Field Inequalities

Juan Jose Quiroz-Omana , and Bruno Vilhena Adorno

IEEE Robotics and Automation Letters, Oct 2019

arXiv: 1906.07322 Publisher: Federal University of Minas Gerais

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This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new distance function and its corresponding Jacobian in order to generate a VFI to limit the angle between two Pl}"ucker lines. This new VFI is used to prevent both undesired end-effector orientations and violation of joints limits. The proposed method is evaluated in a realistic simulation and on a real humanoid robot, showing that all constraints are respected while the robot performs a manipulation task.
@article{Quiroz-Omana2019, title = {Whole-{Body} {Control} {With} ({Self}) {Collision} {Avoidance} {Using} {Vector} {Field} {Inequalities}}, volume = {4}, issn = {2377-3766}, doi = {10.1109/LRA.2019.2928783}, number = {4}, journal = {IEEE Robotics and Automation Letters}, author = {Quiroz-Omana, Juan Jose and Adorno, Bruno Vilhena}, month = oct, year = {2019}, note = {arXiv: 1906.07322 Publisher: Federal University of Minas Gerais}, pages = {4048--4053}, }

2018

Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra

Frederico Fernandes Afonso Silva , and Bruno Vilhena Adorno

Journal of Intelligent & Robotic Systems, Aug 2018

Bib HTML

@article{Silva2017,
  title = {Whole-body {Control} of a {Mobile} {Manipulator} {Using} {Feedback} {Linearization} and {Dual} {Quaternion} {Algebra}},
  volume = {91},
  issn = {0921-0296},
  doi = {10.1007/s10846-017-0686-3},
  number = {2},
  journal = {Journal of Intelligent \& Robotic Systems},
  author = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},
  month = aug,
  year = {2018},
  pages = {249--262},
}

Set-point control of robot end-effector pose using dual quaternion feedback

H.L. Pham , B.V. Adorno , Veronique Perdereau , and Philippe Fraisse

Robotics and Computer-Integrated Manufacturing, Aug 2018

Bib HTML

@article{Pham2017,
  title = {Set-point control of robot end-effector pose using dual quaternion feedback},
  volume = {52},
  issn = {07365845},
  doi = {10.1016/j.rcim.2017.11.003},
  journal = {Robotics and Computer-Integrated Manufacturing},
  author = {Pham, H.L. and Adorno, B.V. and Perdereau, Veronique and Fraisse, Philippe},
  month = aug,
  year = {2018},
  keywords = {Dual quaternion, Pose control, Robot manipulator},
  pages = {100--110},
}

Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming

Juan José Quiroz-Omaña , and Bruno Vilhena Adorno

Journal of Intelligent & Robotic Systems, Aug 2018

Bib HTML

@article{Quiroz-Omana2017,
  title = {Whole-{Body} {Kinematic} {Control} of {Nonholonomic} {Mobile} {Manipulators} {Using} {Linear} {Programming}},
  volume = {91},
  issn = {0921-0296},
  doi = {10.1007/s10846-017-0713-4},
  number = {2},
  journal = {Journal of Intelligent \& Robotic Systems},
  author = {Quiroz-Omaña, Juan José and Adorno, Bruno Vilhena},
  month = aug,
  year = {2018},
  pages = {263--278},
}

2017

The cross-motion invariant group and its application to kinematics

Bruno Vilhena Adorno, and Philippe Fraisse

IMA Journal of Mathematical Control and Information, Dec 2017

Bib HTML

@article{Adorno2016,
  title = {The cross-motion invariant group and its application to kinematics},
  volume = {34},
  issn = {0265-0754},
  doi = {10.1093/imamci/dnw032},
  number = {4},
  journal = {IMA Journal of Mathematical Control and Information},
  author = {Adorno, Bruno Vilhena and Fraisse, Philippe},
  month = dec,
  year = {2017},
  keywords = {kinematics, unit dual quaternion, cross-motion invariance, rigid motion},
  pages = {1359--1378},
}

Hybrid kinematic control for rigid body pose stabilization using dual quaternions

Hugo T.M. Kussaba , Luis F.C. Figueredo , João Y. Ishihara , and Bruno V. Adorno

Journal of the Franklin Institute, May 2017

Bib HTML

@article{Kussaba2017,
  title = {Hybrid kinematic control for rigid body pose stabilization using dual quaternions},
  volume = {354},
  issn = {00160032},
  doi = {10.1016/j.jfranklin.2017.01.028},
  number = {7},
  journal = {Journal of the Franklin Institute},
  author = {Kussaba, Hugo T.M. and Figueredo, Luis F.C. and Ishihara, João Y. and Adorno, Bruno V.},
  month = may,
  year = {2017},
  pages = {2769--2787},
}

2016

Parsimonious Kinematic Control of Highly Redundant Robots

Vinicius Mariano Goncalves , Philippe Fraisse , Andre Crosnier , and Bruno Vilhena Adorno

IEEE Robotics and Automation Letters, Jan 2016

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When a robot is highly redundant in comparison to the task to be executed, current control techniques are not " economic " in the sense that they demand, most of the time unnecessarily, all the joints to move. Such behavior can be undesirable for some applications. In this direction, this work proposes a new control paradigm based on linear programming that intrinsically provides a parsimonious control strategy, that is, one in which few joints move. In addition to a formal stability proof, the paper presents simulation and experimental results on the HOAP-3 humanoid robot. Finally, a comparison is made with a least-square method based on the pseudoinverse of the task Jacobian, showing that the proposed method indeed uses fewer joints than the classic one.
@article{Goncalves2016, title = {Parsimonious {Kinematic} {Control} of {Highly} {Redundant} {Robots}}, volume = {1}, issn = {2377-3766}, doi = {10.1109/LRA.2015.2506259}, number = {1}, journal = {IEEE Robotics and Automation Letters}, author = {Goncalves, Vinicius Mariano and Fraisse, Philippe and Crosnier, Andre and Adorno, Bruno Vilhena}, month = jan, year = {2016}, pages = {65--72}, }

2015

Kinematic modeling and control for human-robot cooperation considering different interaction roles

Bruno Vilhena Adorno, a. P. L. Bó , and P. Fraisse

Robotica, Feb 2015

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This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).
@article{Adorno2015, title = {Kinematic modeling and control for human-robot cooperation considering different interaction roles}, volume = {33}, issn = {0263-5747}, doi = {10.1017/S0263574714000356}, number = {2}, urldate = {2014-09-23}, journal = {Robotica}, author = {Adorno, Bruno Vilhena and Bó, a. P. L. and Fraisse, P.}, month = feb, year = {2015}, pages = {314--331}, }

Detection of movement intention using EEG in a human-robot interaction environment

Ernesto Pablo Lana , Bruno Vilhena Adorno, and Carlos Julio Tierra-Criollo

Research on Biomedical Engineering, Dec 2015

Bib HTML

@article{Lana2015a,
  title = {Detection of movement intention using {EEG} in a human-robot interaction environment},
  volume = {31},
  issn = {2446-4740},
  doi = {10.1590/2446-4740.0777},
  number = {4},
  journal = {Research on Biomedical Engineering},
  author = {Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Tierra-Criollo, Carlos Julio},
  month = dec,
  year = {2015},
  keywords = {brain-machine interface, desynchronization, event-related, movement intention, objective response detection, statistical f test},
  pages = {285--294},
}

2014

3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation

Mariana C. Bernardes , Bruno V. Adorno, Geovany A. Borges , and Philippe Poignet

Journal of Control, Automation and Electrical Systems, Apr 2014

Bib HTML

@article{Bernardes2014a,
  title = {{3D} {Robust} {Online} {Motion} {Planning} for {Steerable} {Needles} in {Dynamic} {Workspaces} {Using} {Duty}-{Cycled} {Rotation}},
  volume = {25},
  issn = {2195-3880},
  doi = {10.1007/s40313-013-0104-4},
  number = {2},
  urldate = {2014-11-23},
  journal = {Journal of Control, Automation and Electrical Systems},
  author = {Bernardes, Mariana C. and Adorno, Bruno V. and Borges, Geovany A. and Poignet, Philippe},
  month = apr,
  year = {2014},
  pages = {216--227},
}

2013

Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning

M.C. Bernardes , B.V. Adorno , P. Poignet , and G.A. Borges

Mechatronics, Sep 2013

Publisher: Elsevier Ltd

Bib HTML

@article{Bernardes2013,
  title = {Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning},
  volume = {23},
  issn = {09574158},
  doi = {10.1016/j.mechatronics.2013.06.004},
  number = {6},
  urldate = {2014-10-21},
  journal = {Mechatronics},
  author = {Bernardes, M.C. and Adorno, B.V. and Poignet, P. and Borges, G.A.},
  month = sep,
  year = {2013},
  note = {Publisher: Elsevier Ltd},
  keywords = {Robotics, Needle, Steering},
  pages = {630--645},
}

Preprints

2023

Dynamic Modeling of Branched Robots using Modular Composition

Frederico Fernandes Afonso Silva , and Bruno Vilhena Adorno

Dec 2023

Abs arXiv Bib

This paper proposes a systematic modular procedure for the dynamic modeling of branched robots comprising several subsystems, each of which being composed of multiple rigid bodies. Furthermore, the proposed strategy is applicable even if some subsystems are regarded as black boxes, requiring only the twists and wrenches at the connection points between different subsystems. To help in the model composition, we also propose a graph representation that encodes the propagation of twists and wrenches between the subsystems. Numerical results show that the proposed formalism is as accurate as a state-of-the-art library for robotic dynamic modeling.
@misc{Silva2022a, title = {Dynamic {Modeling} of {Branched} {Robots} using {Modular} {Composition}}, url = {http://arxiv.org/abs/2208.01795}, author = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena}, month = dec, year = {2023}, }

2022

The IncompleteGuide to Academic Writing in Robotics Research

Bruno Vilhena Adorno, and Murilo Marques Marinho

Dec 2022

Bib HTML

@misc{Adorno2022,
  title = {The {IncompleteGuide} to {Academic} {Writing} in {Robotics} {Research}},
  url = {https://incompleteguides.github.io/},
  author = {Adorno, Bruno Vilhena and Marinho, Murilo Marques},
  year = {2022},
  pages = {31},
}

2017

Robot Kinematic Modeling and Control Based on Dual Quaternion Algebra – Part I: Fundamentals

Bruno Vilhena Adorno

Dec 2017

Bib HTML

@techreport{Adorno2017,
  title = {Robot {Kinematic} {Modeling} and {Control} {Based} on {Dual} {Quaternion} {Algebra} -- {Part} {I}: {Fundamentals}},
  url = {https://hal.archives-ouvertes.fr/hal-01478225v1},
  institution = {Federal University of Minas Gerais},
  author = {Adorno, Bruno Vilhena},
  year = {2017},
  pages = {48},
}

Book chapters

2014

Planejamento de Rotas

Bruno Vilhena Adorno, and Geovany Araújo Borges

In Robótica Móvel , 2014

Bib

@incollection{Adorno2011b,
  address = {Rio de Janeiro},
  title = {Planejamento de {Rotas}},
  isbn = {978-85-216-2303-8},
  booktitle = {Robótica {Móvel}},
  publisher = {Editora LTC},
  author = {Adorno, Bruno Vilhena and Borges, Geovany Araújo},
  editor = {Romero, Roseli Aparecida Francelin and Prestes, Edson and Osório, Fernando and Wolf, Denis},
  year = {2014},
  pages = {84--110},
}

Peer-reviewed international conference papers

2023

Task Planning and Motion Control with Temporal Logic Specifications

Marcos S. Pereira , Luciano C. A. Pimenta , and Bruno V. Adorno

In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Oct 2023

Bib HTML

@inproceedings{pereira_task_2023,
  address = {Detroit, MI, USA},
  title = {Task {Planning} and {Motion} {Control} with {Temporal} {Logic} {Specifications}},
  copyright = {All rights reserved},
  isbn = {978-1-66549-190-7},
  doi = {10.1109/IROS55552.2023.10341494},
  urldate = {2023-12-19},
  booktitle = {2023 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
  publisher = {IEEE},
  author = {Pereira, Marcos S. and Pimenta, Luciano C. A. and Adorno, Bruno V.},
  month = oct,
  year = {2023},
  pages = {2034--2041},
}

Maintaining Visibility of Dynamic Objects in Cluttered Environments Using Mobile Manipulators and Vector Field Inequalities

Fatih Dursun , Bruno Vilhena Adorno, Simon Watson , and Wei Pan

In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Oct 2023

Bib HTML

@inproceedings{dursun_maintaining_2023,
  address = {Detroit, MI, USA},
  title = {Maintaining {Visibility} of {Dynamic} {Objects} in {Cluttered} {Environments} {Using} {Mobile} {Manipulators} and {Vector} {Field} {Inequalities}},
  isbn = {978-1-66549-190-7},
  doi = {10.1109/IROS55552.2023.10341763},
  urldate = {2023-12-19},
  booktitle = {2023 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
  publisher = {IEEE},
  author = {Dursun, Fatih and Adorno, Bruno Vilhena and Watson, Simon and Pan, Wei},
  month = oct,
  year = {2023},
  pages = {6371--6378},
}

2022

Set-point Control for a Ground-based Reconfigurable Robot

Wei Cheah , Bruno Vilhena Adorno, Simon Watson , and Barry Lennox

In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Oct 2022

Bib HTML

@inproceedings{Cheah2022,
  address = {Kyoto},
  title = {Set-point {Control} for a {Ground}-based {Reconfigurable} {Robot}},
  isbn = {978-1-66547-927-1},
  doi = {10.1109/IROS47612.2022.9981358},
  booktitle = {2022 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})},
  publisher = {IEEE},
  author = {Cheah, Wei and Adorno, Bruno Vilhena and Watson, Simon and Lennox, Barry},
  month = oct,
  year = {2022},
  pages = {2616--2621},
}

2019

A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces

Murilo M. Marinho , Bruno V. Adorno, Kanako Harada , Kyoichi Deie , Anton Deguet , Peter Kazanzides , Russell H. Taylor , and Mamoru Mitsuishi

In 2019 International Conference on Robotics and Automation (ICRA) , May 2019

arXiv: 1809.07907

Abs Bib HTML

In adult laparoscopy, robot-aided surgery is a reality in thousands of operating rooms worldwide, owing to the increased dexterity provided by the robotic tools. Many robots and robot control techniques have been developed to aid in more challenging scenarios, such as pediatric surgery and microsurgery. However, the prevalence of case-specific solutions, particularly those focused on non-redundant robots, reduces the reproducibility of the initial results in more challenging scenarios. In this letter, we propose a general framework for the control of surgical robotics in constrained workspaces under teleoperation, regardless of the robot geometry. Our technique is divided into a slave-side constrained optimization algorithm, which provides virtual fixtures, and with Cartesian impedance on the master side to provide force feedback. Experiments with two robotic systems, one redundant and one non-redundant, show that smooth teleoperation can be achieved in adult laparoscopy and infant surgery.
@inproceedings{Marinho2019, address = {Montreal}, title = {A {Unified} {Framework} for the {Teleoperation} of {Surgical} {Robots} in {Constrained} {Workspaces}}, isbn = {978-1-5386-6027-0}, doi = {10.1109/ICRA.2019.8794363}, booktitle = {2019 {International} {Conference} on {Robotics} and {Automation} ({ICRA})}, publisher = {IEEE}, author = {Marinho, Murilo M. and Adorno, Bruno V. and Harada, Kanako and Deie, Kyoichi and Deguet, Anton and Kazanzides, Peter and Taylor, Russell H. and Mitsuishi, Mamoru}, month = may, year = {2019}, note = {arXiv: 1809.07907}, pages = {2721--2727}, }

An Adaptive Controller with Guarantee of Better Conditioning of the Robot Manipulator Joint-Space Inertia Matrix

Mariana Paula Assis Fonseca , Bruno Vilhena Adorno, and Philippe Fraisse

In 2019 19th International Conference on Advanced Robotics (ICAR) , Dec 2019

Bib HTML

@inproceedings{DePaulaAssisFonseca2019,
  address = {Belo Horizonte},
  title = {An {Adaptive} {Controller} with {Guarantee} of {Better} {Conditioning} of the {Robot} {Manipulator} {Joint}-{Space} {Inertia} {Matrix}},
  isbn = {978-1-72812-467-4},
  doi = {10.1109/ICAR46387.2019.8981558},
  booktitle = {2019 19th {International} {Conference} on {Advanced} {Robotics} ({ICAR})},
  publisher = {IEEE},
  author = {de Paula Assis Fonseca, Mariana and Adorno, Bruno Vilhena and Fraisse, Philippe},
  month = dec,
  year = {2019},
  pages = {111--116},
}

2018

Active Constraints Using Vector Field Inequalities for Surgical Robots

Murilo M. Marinho , Bruno V. Adorno, Kanako Harada , and Mamoru Mitsuishi

In 2018 IEEE International Conference on Robotics and Automation (ICRA) , May 2018

arXiv: 1804.11270

Bib HTML

@inproceedings{Marinho2018a,
  title = {Active {Constraints} {Using} {Vector} {Field} {Inequalities} for {Surgical} {Robots}},
  isbn = {978-1-5386-3081-5},
  doi = {10.1109/ICRA.2018.8461105},
  booktitle = {2018 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
  publisher = {IEEE},
  author = {Marinho, Murilo M. and Adorno, Bruno V. and Harada, Kanako and Mitsuishi, Mamoru},
  month = may,
  year = {2018},
  note = {arXiv: 1804.11270},
  pages = {5364--5371},
}

2016

Robust whole-body control of an unmanned aerial manipulator

Laysa S Mello , Guilherme V Raffo , and Bruno V Adorno

In 2016 European Control Conference (ECC) , Jun 2016

Bib HTML

@inproceedings{Mello2016,
  address = {Aalborg, Denmark},
  title = {Robust whole-body control of an unmanned aerial manipulator},
  isbn = {978-1-5090-2591-6},
  doi = {10.1109/ECC.2016.7810371},
  booktitle = {2016 {European} {Control} {Conference} ({ECC})},
  publisher = {IEEE},
  author = {Mello, Laysa S and Raffo, Guilherme V and Adorno, Bruno V},
  month = jun,
  year = {2016},
  pages = {702--707},
}

2015

A new algebraic approach for the description of robotic manipulation tasks

Ernesto Pablo Lana , Bruno Vilhena Adorno, and Carlos Andrey Maia

In 2015 IEEE International Conference on Robotics and Automation (ICRA) , May 2015

Bib HTML

@inproceedings{Lana2015,
  address = {Seattle, Washington},
  title = {A new algebraic approach for the description of robotic manipulation tasks},
  isbn = {978-1-4799-6923-4},
  doi = {10.1109/ICRA.2015.7139622},
  booktitle = {2015 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
  publisher = {IEEE},
  author = {Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Maia, Carlos Andrey},
  month = may,
  year = {2015},
  keywords = {Service Robots, Manipulation Planning, Planning, Scheduling and Coordination},
  pages = {3083--3088},
}

A dual quaternion linear-quadratic optimal controller for trajectory tracking

M M Marinho , L F C Figueredo , and B V Adorno

In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Sep 2015

Abs Bib HTML

This work addresses the task-space design prob- lem of a linear-quadratic optimal tracking controller for robotic manipulators using the unit dual quaternion formalism. The efficiency, compactness, and lack of singularity of the representation render the unit dual quaternion a suitable framework for simultaneously describing the attitude and the position of the end-effector. Motivated by the advantages of this kinematic description, we propose a new task-space linear- quadratic optimal tracking controller in order to find an optimal trajectory for the end-effector, providing a tool to balance more conveniently the end-effector error and its task- space velocity. This is possible because the kinematic control problem using the dual quaternion transformation invariant error can be reduced to an affine time-varying system. The proposed optimal tracking controller allows the compensation of trajectory induced disturbances, as well as other modeled additive disturbances and known bias. Simulation results with different design parameters provide a performance overview, in comparison with standard kinematic controllers with and without a feed-forward term, for tracking a desired reference.
@inproceedings{Marinho2015, title = {A dual quaternion linear-quadratic optimal controller for trajectory tracking}, isbn = {978-1-4799-9994-1}, doi = {10.1109/IROS.2015.7353948}, booktitle = {2015 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})}, publisher = {IEEE}, author = {Marinho, M M and Figueredo, L F C and Adorno, B V}, month = sep, year = {2015}, pages = {4047--4052}, }

2014

Switching strategy for flexible task execution using the cooperative dual task-space framework

L.F.C. Figueredo , B.V. Adorno , J.Y. Ishihara , and G.A. Borges

In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems , Sep 2014

Bib HTML

@inproceedings{Figueredo2014,
  address = {Chicago},
  title = {Switching strategy for flexible task execution using the cooperative dual task-space framework},
  isbn = {978-1-4799-6934-0},
  doi = {10.1109/IROS.2014.6942784},
  booktitle = {2014 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  publisher = {IEEE},
  author = {Figueredo, L.F.C. and Adorno, B.V. and Ishihara, J.Y. and Borges, G.A.},
  month = sep,
  year = {2014},
  pages = {1703--1709},
}

2013

An ERD/ERS analysis of the relation between human arm and robot manipulator movements

Ernesto Pablo Lana , Bruno Vilhena Adorno, and Carlos Julio Tierra-Criollo

In ISSNIP Biosignals and Biorobotics Conference, BRC , Feb 2013

ISSN: 23267771

Abs Bib HTML

This work aims to analyze the relation between the movement of an anthropomorphic robotic manipulator with the brain cortex response elicited in healthy subjects for three experimental conditions. The experiment was divided in three parts: in the first one, the subject only observes the movement of the robotic manipulator; in the second part, the subject follows the robot movement with his right arm; finally, in the third part, the subject imagines the execution of the corresponding movement synchronized with the robot movement. Event related (de)synchronization in each of the recorded electroencephalogram channels was analyzed. Event related desynchronization was present in alpha and beta bands in various areas of the cortex, including occipital, parietal, central and prefrontal areas. The results provided some physiological insights into human-robot interaction for future developments in brain-machine interfaces.
@inproceedings{Lana2013a, title = {An {ERD}/{ERS} analysis of the relation between human arm and robot manipulator movements}, isbn = {978-1-4673-3024-4}, doi = {10.1109/BRC.2013.6487461}, urldate = {2014-06-26}, booktitle = {{ISSNIP} {Biosignals} and {Biorobotics} {Conference}, {BRC}}, publisher = {IEEE}, author = {Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Tierra-Criollo, Carlos Julio}, month = feb, year = {2013}, note = {ISSN: 23267771}, keywords = {human-robot interaction, assistive technologies, ERD/ERS brain-machine interface, neurorobotics}, pages = {1--7}, }
Robust kinematic control of manipulator robots using dual quaternion representation

L.F.C. Figueredo , B.V. Adorno , J.Y. Ishihara , and G.a. Borges

In 2013 IEEE International Conference on Robotics and Automation , May 2013

ISSN: 10504729

Abs Bib HTML

This paper addresses the H∞ robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H∞ control criteria that ensure asymptotic convergence, whereas reducing the influence of disturbances upon the system stability. Also, with a new metric of dual quaternion error in SE(3) we prove independence from robot coordinate changes. Simulation results highlight the importance and effectiveness of the proposed approach in terms of performance, robustness, and energy efficiency.
@inproceedings{Figueredo2013, title = {Robust kinematic control of manipulator robots using dual quaternion representation}, isbn = {978-1-4673-5643-5}, doi = {10.1109/ICRA.2013.6630836}, urldate = {2014-02-19}, booktitle = {2013 {IEEE} {International} {Conference} on {Robotics} and {Automation}}, publisher = {IEEE}, author = {Figueredo, L.F.C. and Adorno, B.V. and Ishihara, J.Y. and Borges, G.a.}, month = may, year = {2013}, note = {ISSN: 10504729}, pages = {1949--1955}, }

2012

Semi-automatic needle steering system with robotic manipulator

Mariana Costa Bernardes , Bruno Vilhena Adorno, Philippe Poignet , and Geovany Araújo Borges

In Proceedings - IEEE International Conference on Robotics and Automation , May 2012

ISSN: 10504729

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This paper presents a semi-automatic system for robot-assisted 2D needle steering that uses duty-cycling to perform insertions with arcs of adjustable curvature radius. It combines image feedback manually provided by an operator with an adaptive path planning strategy to compensate for system uncertainties and changes in the workspace during the procedure. Experimental results are presented to validate the proposed platform.
@inproceedings{Bernardes2012, address = {Minnesota}, title = {Semi-automatic needle steering system with robotic manipulator}, isbn = {978-1-4673-1403-9}, doi = {10.1109/ICRA.2012.6225185}, urldate = {2014-02-19}, booktitle = {Proceedings - {IEEE} {International} {Conference} on {Robotics} and {Automation}}, publisher = {IEEE}, author = {Bernardes, Mariana Costa and Adorno, Bruno Vilhena and Poignet, Philippe and Borges, Geovany Araújo}, year = {2012}, note = {ISSN: 10504729}, pages = {1595--1600}, }

2011

Towards a cooperative framework for interactive manipulation involving a human and a humanoid

Bruno Vilhena Adorno, Antônio Padilha Lanari Bó , Philippe Fraisse , and Philippe Poignet

In Proceedings - IEEE International Conference on Robotics and Automation , May 2011

ISSN: 10504729

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In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. The interaction is represented by means of the relative configuration between the human’s and the robot’s hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. We also introduce the concept of simultaneous handling using mirrored movements, where the human controls the robot and simultaneously interacts with it by means of a common manipulated object. Illustrative experiments are performed to validate the proposed techniques.
@inproceedings{Adorno2011a, title = {Towards a cooperative framework for interactive manipulation involving a human and a humanoid}, isbn = {978-1-61284-386-5}, doi = {10.1109/ICRA.2011.5979787}, urldate = {2012-09-01}, booktitle = {Proceedings - {IEEE} {International} {Conference} on {Robotics} and {Automation}}, publisher = {IEEE}, author = {Adorno, Bruno Vilhena and Bó, Antônio Padilha Lanari and Fraisse, Philippe and Poignet, Philippe}, month = may, year = {2011}, note = {ISSN: 10504729}, pages = {3777--3783}, }

Adaptive path planning for steerable needles using duty-cycling

Mariana C Bernardes , Bruno V Adorno , Philippe Poignet , Nabil Zemiti , and Geovany A Borges

In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems , May 2011

Bib HTML

@inproceedings{Bernardes2011b,
  title = {Adaptive path planning for steerable needles using duty-cycling},
  isbn = {978-1-61284-456-5},
  doi = {10.1109/IROS.2011.6094594},
  urldate = {2012-09-01},
  booktitle = {2011 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  publisher = {IEEE},
  author = {Bernardes, Mariana C and Adorno, Bruno V and Poignet, Philippe and Zemiti, Nabil and Borges, Geovany A},
  year = {2011},
  pages = {2545--2550},
}

Interactive manipulation between a human and a humanoid: When robots control human arm motion

Bruno Vilhena Adorno, Antonio Padilha Lanari Bo , and Philippe Fraisse

In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems , May 2011

Bib HTML

@inproceedings{Adorno2011d,
  title = {Interactive manipulation between a human and a humanoid: {When} robots control human arm motion},
  isbn = {978-1-61284-456-5},
  doi = {10.1109/IROS.2011.6094869},
  urldate = {2012-09-01},
  booktitle = {2011 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  publisher = {IEEE},
  author = {Adorno, Bruno Vilhena and Bo, Antonio Padilha Lanari and Fraisse, Philippe},
  year = {2011},
  pages = {4658--4663},
}

2010

Dual position control strategies using the cooperative dual task-space framework

Bruno Vilhena Adorno, Philippe Fraisse , and Sébastien Druon

In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems , Oct 2010

Bib HTML

@inproceedings{Adorno2010,
  title = {Dual position control strategies using the cooperative dual task-space framework},
  isbn = {978-1-4244-6674-0},
  doi = {10.1109/IROS.2010.5650218},
  urldate = {2011-01-07},
  booktitle = {2010 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  publisher = {IEEE},
  author = {Adorno, Bruno Vilhena and Fraisse, Philippe and Druon, Sébastien},
  month = oct,
  year = {2010},
  pages = {3955--3960},
}

Position and orientation control of robot manipulators using dual quaternion feedback

Hoang-Lan Pham , Veronique Perdereau , Bruno Vilhena Adorno, and Philippe Fraisse

In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems , Oct 2010

Bib

@inproceedings{Pham2010,
  address = {Taipei},
  title = {Position and orientation control of robot manipulators using dual quaternion feedback},
  isbn = {978-1-4244-6674-0},
  doi = {10.1109/IROS.2010.5651097},
  urldate = {2011-01-07},
  booktitle = {2010 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  publisher = {IEEE},
  author = {Pham, Hoang-Lan and Perdereau, Veronique and Adorno, Bruno Vilhena and Fraisse, Philippe},
  month = oct,
  year = {2010},
  pages = {658--663},
}

2009

iARW: An incremental path planner algorithm based on adaptive random walks

Bruno Vilhena Adorno, and Geovany Araújo Borges

In The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems , Oct 2009

Bib HTML

@inproceedings{AdornoBorges:2009,
  address = {St. Louis, USA},
  title = {{iARW}: {An} incremental path planner algorithm based on adaptive random walks},
  doi = {10.1109/IROS.2009.5354533},
  booktitle = {The 2009 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  author = {Adorno, Bruno Vilhena and Borges, Geovany Araújo},
  month = oct,
  year = {2009},
  pages = {988--993},
}

Peer-reviewed national conference papers

2020

Biped Walking Control Based on Quadratic Programming and Differential Inequalities

Stella Diniz Urban , and Bruno Vilhena Adorno

In Anais do Congresso Brasileiro de Automática 2020 , Dec 2020

Bib HTML

@inproceedings{DinizUrban2020,
  title = {Biped {Walking} {Control} {Based} on {Quadratic} {Programming} and {Differential} {Inequalities}},
  doi = {10.48011/asba.v2i1.1029},
  booktitle = {Anais do {Congresso} {Brasileiro} de {Automática} 2020},
  publisher = {sbabra},
  author = {Diniz Urban, Stella and Vilhena Adorno, Bruno},
  month = dec,
  year = {2020},
  pages = {1--8},
}

Development of Human-Robot Communication Technologies for Future Interaction Experiments

Ana Christina Almada Campos , and Bruno Vilhena Adorno

In 2020 Latin American Robotics Symposium (LARS), 2020 Brazilian Symposium on Robotics (SBR) and 2020 Workshop on Robotics in Education (WRE) , Nov 2020

Bib HTML

@inproceedings{AlmadaCampos2020,
  title = {Development of {Human}-{Robot} {Communication} {Technologies} for {Future} {Interaction} {Experiments}},
  isbn = {978-0-7381-1153-7},
  doi = {10.1109/LARS/SBR/WRE51543.2020.9306965},
  booktitle = {2020 {Latin} {American} {Robotics} {Symposium} ({LARS}), 2020 {Brazilian} {Symposium} on {Robotics} ({SBR}) and 2020 {Workshop} on {Robotics} in {Education} ({WRE})},
  publisher = {IEEE},
  author = {Almada Campos, Ana Christina and Adorno, Bruno Vilhena},
  month = nov,
  year = {2020},
  pages = {1--6},
}

Manipulation Task Planning with Constrained Kinematic Controller

Marcos S. Pereira , and Bruno V. Adorno

In Anais do Congresso Brasileiro de Automática 2020 , Dec 2020

Bib HTML

@inproceedings{S.Pereira2020,
  title = {Manipulation {Task} {Planning} with {Constrained} {Kinematic} {Controller}},
  doi = {10.48011/asba.v2i1.1276},
  booktitle = {Anais do {Congresso} {Brasileiro} de {Automática} 2020},
  publisher = {sbabra},
  author = {S. Pereira, Marcos and V. Adorno, Bruno},
  month = dec,
  year = {2020},
  pages = {1--8},
}

2018

Design of an Adaptive Controller to Improve the Condition Number of the Inertia Matrix of Serial Manipulators

Mariana de Paula Assis Fonseca , Bruno Vilhena Adorno , and Philippe Fraisse

In Anais do XXII Congresso Brasileiro de Automática , Dec 2018

Bib HTML

@inproceedings{Fonseca2018,
  title = {Design of an {Adaptive} {Controller} to {Improve} the {Condition} {Number} of the {Inertia} {Matrix} of {Serial} {Manipulators}},
  doi = {10.20906/CPS/CBA2018-0982},
  booktitle = {Anais do {XXII} {Congresso} {Brasileiro} de {Automática}},
  author = {{Mariana de Paula Assis Fonseca} and {Bruno Vilhena Adorno} and {Philippe Fraisse}},
  year = {2018},
  pages = {1--8},
}

CONVERGÊNCIA E COBERTURA DE CURVAS POR SISTEMAS MULTI-ROBÔS

Rafael Palma de Brito , Bruno Vilhena Adorno , and Luciano Cunha de Araújo Pimenta

In Anais do XXII Congresso Brasileiro de Automática , Dec 2018

Bib HTML

@inproceedings{Brito2018,
  title = {{CONVERGÊNCIA} {E} {COBERTURA} {DE} {CURVAS} {POR} {SISTEMAS} {MULTI}-{ROBÔS}},
  doi = {10.20906/CPS/CBA2018-0994},
  booktitle = {Anais do {XXII} {Congresso} {Brasileiro} de {Automática}},
  author = {{Rafael Palma de Brito} and {Bruno Vilhena Adorno} and {Luciano Cunha de Araújo Pimenta}},
  year = {2018},
  pages = {1--8},
}

2017

External hybrid force/pose controller for manipulator robots using dual quaternion algebra

Diana Sabina Alban , and Bruno Vilhena Adorno

In 2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) , Nov 2017

Bib HTML

@inproceedings{Alban2017,
  address = {Curitiba},
  title = {External hybrid force/pose controller for manipulator robots using dual quaternion algebra},
  isbn = {978-1-5386-0956-9},
  doi = {10.1109/SBR-LARS-R.2017.8215334},
  booktitle = {2017 {Latin} {American} {Robotics} {Symposium} ({LARS}) and 2017 {Brazilian} {Symposium} on {Robotics} ({SBR})},
  publisher = {IEEE},
  author = {Alban, Diana Sabina and Adorno, Bruno Vilhena},
  month = nov,
  year = {2017},
  pages = {1--6},
}

2016

Parsimonious Kinematic Control of Nonholonomic Mobile Manipulators

Juan Jose Quiroz-Omana , and Bruno Vilhena Adorno

In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR) , Oct 2016

Abs Bib HTML

This paper presents the implementation and per- formance comparison of two whole-body kinematic control strategies for a robot composed of one manipulator with five degrees of freedom (DOF) serially coupled to a nonholonomic mobile base. The control strategy is based on a cascade scheme composed of an outer loop that takes into account all DOF and an inner loop that explicitly deals with the nonholonomic constraints of the mobile base. The comparison is performed between two techniques applied at the outer loop to deal with the whole-body motion, namely a traditional approach that uses the pseudoinverse of the robot Jacobian matrix and the parsimonious control recently introduced by Gonçalves et al. [1]. Experiments on a real robot show that the parsimonious approach uses fewer actuators than the traditional approach at the expense of more abrupt control signals.
@inproceedings{Quiroz-Omana2016, title = {Parsimonious {Kinematic} {Control} of {Nonholonomic} {Mobile} {Manipulators}}, isbn = {978-1-5090-3656-1}, doi = {10.1109/LARS-SBR.2016.19}, booktitle = {2016 {XIII} {Latin} {American} {Robotics} {Symposium} and {IV} {Brazilian} {Robotics} {Symposium} ({LARS}/{SBR})}, publisher = {IEEE}, author = {Quiroz-Omana, Juan Jose and Adorno, Bruno Vilhena}, month = oct, year = {2016}, keywords = {Adorno, Quiroz-Omaña}, pages = {73--78}, }

Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra

Mariana De Paula Assis Fonseca , and Bruno Vilhena Adorno

In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR) , Oct 2016

Bib HTML

@inproceedings{Fonseca2016,
  title = {Whole-{Body} {Modeling} and {Hierarchical} {Control} of a {Humanoid} {Robot} {Based} on {Dual} {Quaternion} {Algebra}},
  isbn = {978-1-5090-3656-1},
  doi = {10.1109/LARS-SBR.2016.24},
  booktitle = {2016 {XIII} {Latin} {American} {Robotics} {Symposium} and {IV} {Brazilian} {Robotics} {Symposium} ({LARS}/{SBR})},
  publisher = {IEEE},
  author = {Fonseca, Mariana De Paula Assis and Adorno, Bruno Vilhena},
  month = oct,
  year = {2016},
  keywords = {Whole-body control, Humanoid robot, Kinematic control},
  pages = {103--108},
}

Formation Backstepping Control Based on the Cooperative Dual Task-Space Framework: A Case Study on Unmanned Aerial Vehicles

Brenner S. Rego , Bruno V. Adorno, and Guilherme V. Raffo

In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR) , Oct 2016

Bib HTML

@inproceedings{Rego2016,
  title = {Formation {Backstepping} {Control} {Based} on the {Cooperative} {Dual} {Task}-{Space} {Framework}: {A} {Case} {Study} on {Unmanned} {Aerial} {Vehicles}},
  isbn = {978-1-5090-3656-1},
  doi = {10.1109/LARS-SBR.2016.34},
  booktitle = {2016 {XIII} {Latin} {American} {Robotics} {Symposium} and {IV} {Brazilian} {Robotics} {Symposium} ({LARS}/{SBR})},
  publisher = {IEEE},
  author = {Rego, Brenner S. and Adorno, Bruno V. and Raffo, Guilherme V.},
  month = oct,
  year = {2016},
  pages = {163--168},
}

Whole-body control of a mobile manipulator using feedback linearization based on dual quaternions

Frederico Fernandes Afonso Silva , and Bruno Vilhena Adorno

In 2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR) , Oct 2016

Bib HTML

@inproceedings{Silva2016,
  title = {Whole-body control of a mobile manipulator using feedback linearization based on dual quaternions},
  isbn = {978-1-5090-3656-1},
  doi = {10.1109/LARS-SBR.2016.56},
  booktitle = {2016 {XIII} {Latin} {American} {Robotics} {Symposium} and {IV} {Brazilian} {Robotics} {Symposium} ({LARS}/{SBR})},
  publisher = {IEEE},
  author = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},
  month = oct,
  year = {2016},
  pages = {293--298},
}

2015

Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework

Ana Christine Oliveira , and Bruno Vilhena Adorno

In XII Simpósio Brasileiro de Automação Inteligente (SBAI) , Oct 2015

Abs Bib

— This paper presents a technique for the modeling and balance control of humanoid robots based on dual quaternion algebra and the Cooperative Dual Task-Space Framework. A strategy for controlling the Center of Mass (CoM) position that takes into account the system’s stability constraints is presented and validated in a realistic simulation. The results show that the presented control strategy is able to track a desired 3D trajectory for the CoM while ensuring the robot’s balance, and may potentially be extended to perform bipedal locomotion. Keywords— Humanoid robots, Center of Mass (CoM), CoM control, Dual quaternion, Cooperative Dual Task-Space (CDTS). Resumo— Este artigo apresenta uma técnica de modelagem e controle de equilíbrio de robôs humanóides baseada na álgebra de quatérnios duais e no Espaço de Cooperação Dual. Uma estratégia para controlar a posição do Centro de Massa (CM), que leva em consideração as restrições de estabilidade do sistema, é apresentada e validada em um ambiente de simulação realístico. Os resultados obtidos mostram que esta estratégia de controle é capaz de realizar o rastreamento de uma trajetória 3D desejada para o CM, enquanto garante o equilíbrio do robô, e pode, potencialmente, ser estendida para a locomoção de robôs bípedes. Palavras-chave— Robôs humanóides, Centro de Massa, Controle do Centro de Massa, Quatérnios duais, Espaço de Cooperação Dual.
@inproceedings{Oliveira2015a, title = {Balance {Control} of a {Humanoid} {Robot} {Based} on the {Cooperative} {Dual} {Task}-{Space} {Framework}}, booktitle = {{XII} {Simpósio} {Brasileiro} de {Automação} {Inteligente} ({SBAI})}, publisher = {SBA}, author = {Oliveira, Ana Christine and Adorno, Bruno Vilhena}, year = {2015}, keywords = {humanoid robots, dual quaternion, center of mass, com, com control, cooperative dual}, pages = {485 -- 490}, }
Consenso utilizando a álgebra de Quatérnios Duais em sistemas compostos por manipuladores móveis

Rafael P Brito , Heitor J Savino , Bruno V Adorno , and Luciano C A Pimenta

In XII Simpósio Brasileiro de Automação Inteligente (SBAI) , Oct 2015

Abs Bib

Resumo— Este artigo trata do problema de consenso entre múltiplos manipuladores móveis. O sistema é modelado utilizando álgebra de quatérnios duais e dois casos são considerados: o problema de rendezvous e o de consenso na pose dos efetuadores dos manipuladores móveis utilizando-se referenciais locais. Para o controle local dos manipuladores móveis, utiliza-se uma abordagem de controle hierárquico com duas tarefas executadas em diferentes níveis de prioridade. A técnica proposta é avaliada em simulação, mostrando que o sistema fica estável quando o consenso é atingido. Palavras-chave— Quatérnios duais, consenso, rendezvous, manipulador móvel, controle de corpo completo. Abstract— This paper deals with the consensus problem of multiple mobile manipulators. The system is modeled by using dual quaternion algebra and two problems are considered: the rendezvous problem and the pose consensus of the end-effectors with local frames. In order to perform the local control of the mobile manipulators, a hierarchical approach is used such that two tasks are executed simultaneously with different priorities. The proposed technique is evaluated in simulation, which shows that the system stabilizes when the consensus is achieved.
@inproceedings{Brito2015b, title = {Consenso utilizando a álgebra de {Quatérnios} {Duais} em sistemas compostos por manipuladores móveis}, booktitle = {{XII} {Simpósio} {Brasileiro} de {Automação} {Inteligente} ({SBAI})}, author = {Brito, Rafael P and Savino, Heitor J and Adorno, Bruno V and Pimenta, Luciano C A}, year = {2015}, pages = {1907 -- 1912}, }

Whole-Body Modeling and Control of an Unmanned Aerial Manipulator

Laysa Santos Mello , Bruno Vilhena Adorno, and Guilherme Vianna Raffo

In XII Simpósio Brasileiro de Automação Inteligente (SBAI) , Oct 2015

Bib

@inproceedings{Mello2014a,
  address = {Natal},
  title = {Whole-{Body} {Modeling} and {Control} of an {Unmanned} {Aerial} {Manipulator}},
  booktitle = {{XII} {Simpósio} {Brasileiro} de {Automação} {Inteligente} ({SBAI})},
  author = {Mello, Laysa Santos and Adorno, Bruno Vilhena and Raffo, Guilherme Vianna},
  year = {2015},
  pages = {969--974},
}

2014

Modelagem e Controle de Corpo Completo Usando Quatérnios Duais para um Manipulador Móvel

Fredy Rolando Salazar-Sangucho , and Bruno Vilhena Adorno

In Anais do XX Congresso Brasileiro de Automática , Oct 2014

Bib

@inproceedings{Salazar-Sangucho2014,
  address = {Belo Horizonte},
  title = {Modelagem e {Controle} de {Corpo} {Completo} {Usando} {Quatérnios} {Duais} para um {Manipulador} {Móvel}},
  booktitle = {Anais do {XX} {Congresso} {Brasileiro} de {Automática}},
  publisher = {SBA},
  author = {Salazar-Sangucho, Fredy Rolando and Adorno, Bruno Vilhena},
  year = {2014},
  pages = {1544--1551},
}

Descrição Geométrica, Cinemática e de Esforços para Tarefas de Manipulação Usando Quatérnios Duais

Ernesto Pablo Lana , Bruno Vilhena Adorno, and Carlos Andrey Maia

In Congresso Brasileiro de Automática , Oct 2014

Bib

@inproceedings{Lana2014,
  address = {Belo Horizonte},
  title = {Descrição {Geométrica}, {Cinemática} e de {Esforços} para {Tarefas} de {Manipulação} {Usando} {Quatérnios} {Duais}},
  booktitle = {Congresso {Brasileiro} de {Automática}},
  author = {Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Maia, Carlos Andrey},
  year = {2014},
  keywords = {dual quaternions, manipulation tasks, tff, twists, wrenches},
  pages = {965--972},
}

Teoria de Controle Supervisório e Controle Dirigido Ótimo: Solução de um Problema de Sequenciamento

Ramon G Durães , Gustavo L Vieira , Patrícia N Pena , and Bruno V Adorno

In Congresso Brasileiro de Automática , Oct 2014

Bib

@inproceedings{Duraes2014,
  address = {Belo Horizonte},
  title = {Teoria de {Controle} {Supervisório} e {Controle} {Dirigido} Ótimo: {Solução} de um {Problema} de {Sequenciamento}},
  booktitle = {Congresso {Brasileiro} de {Automática}},
  author = {Durães, Ramon G and Vieira, Gustavo L and Pena, Patrícia N and Adorno, Bruno V},
  year = {2014},
  keywords = {discrete event systems, optimal directed control, sequencing, supervisory control theory},
  pages = {1608--1615},
}

2013

Assistance Task Using a Manipulator Robot and User Kinematics Feedback

Ernesto Pablo Lana , Bruno Vilhena Adorno, and Carlos Julio Tierra-Criollo

In Anais do Simpósio Brasileiro de Automação Inteligente , Oct 2013

Bib

@inproceedings{Lana2013c,
  address = {Fortaleza},
  title = {Assistance {Task} {Using} a {Manipulator} {Robot} and {User} {Kinematics} {Feedback}},
  booktitle = {Anais do {Simpósio} {Brasileiro} de {Automação} {Inteligente}},
  author = {Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Tierra-Criollo, Carlos Julio},
  year = {2013},
  keywords = {human-robot interaction, assistance task, dual quaternion algebra, jacobian-based control, task-priority control},
  pages = {1--6},
}

Design Of Singularity-robust and Task-priority Kinematic Controllers in the Unit Dual Quaternion Space

Murilo Marques Marinho , and Bruno Vilhena Adorno

In Anais do Simpósio Brasileiro de Automação Inteligente , Oct 2013

Bib

@inproceedings{Marinho2013,
  address = {Fortaleza},
  title = {Design {Of} {Singularity}-robust and {Task}-priority {Kinematic} {Controllers} in the {Unit} {Dual} {Quaternion} {Space}},
  booktitle = {Anais do {Simpósio} {Brasileiro} de {Automação} {Inteligente}},
  author = {Marinho, Murilo Marques and Adorno, Bruno Vilhena},
  year = {2013},
  keywords = {robotic manipulator, dual quaternions, kinematic control, openrave, ros},
  pages = {1--6},
}

2012

Manipulação Cooperativa Descentralizada Usando o Espaço Dual de Cooperação

Bruno Vilhena Adorno

In XIX Congresso Brasileiro de Automática , Oct 2012

Bib

@inproceedings{Adorno2012,
  address = {Campina Grande},
  title = {Manipulação {Cooperativa} {Descentralizada} {Usando} o {Espaço} {Dual} de {Cooperação}},
  booktitle = {{XIX} {Congresso} {Brasileiro} de {Automática}},
  publisher = {Sociedade Brasileira de Automática},
  author = {Adorno, Bruno Vilhena},
  year = {2012},
  keywords = {cooperative systems, dual quaternion, resumo, cooperative dual task-space, este artigo prop, kinematic control, ma-, multiarm manipulation, nipulator robots},
  pages = {1436--1443},
}

2007

Planejamento de caminho usando BI-ARW melhorado e mapa de rotas

Bruno Vilhena Adorno, and Geovany Araújo Borges

In Simpósio Brasileiro de Automação Inteligente , Oct 2007

Bib

@inproceedings{article:AdornoBorges:2007,
  address = {Florianópolis},
  title = {Planejamento de caminho usando {BI}-{ARW} melhorado e mapa de rotas},
  booktitle = {Simpósio {Brasileiro} de {Automação} {Inteligente}},
  author = {Adorno, Bruno Vilhena and Borges, Geovany Araújo},
  year = {2007},
  pages = {1--6},
}

2006

Um método de planejamento de trajetória para robôs móveis através de passeios aleatórios adaptativos e mapa de rotas

Bruno Vilhena Adorno, and Geovany Araújo Borges

In XVI Congresso Brasileiro de Automática , Oct 2006

Bib

@inproceedings{article:Adorno:2006,
  title = {Um método de planejamento de trajetória para robôs móveis através de passeios aleatórios adaptativos e mapa de rotas},
  booktitle = {{XVI} {Congresso} {Brasileiro} de {Automática}},
  author = {Adorno, Bruno Vilhena and Borges, Geovany Araújo},
  year = {2006},
  pages = {1--6},
}

2005

Planejamento de trajetória para o robô OMNI utilizando o algoritmo mapa de rotas probabilístico

Bruno Vilhena Adorno, Carla Silva Rocha Aguiar , and Geovany Araújo Borges

In VII Simpósio Brasileiro de Automação Inteligente / II IEEE Latin-American Robotics Symposium , Oct 2005

Bib

@inproceedings{Adorno2005,
  title = {Planejamento de trajetória para o robô {OMNI} utilizando o algoritmo mapa de rotas probabilístico},
  booktitle = {{VII} {Simpósio} {Brasileiro} de {Automação} {Inteligente} / {II} {IEEE} {Latin}-{American} {Robotics} {Symposium}},
  author = {Adorno, Bruno Vilhena and Aguiar, Carla Silva Rocha and Borges, Geovany Araújo},
  year = {2005},
  pages = {1--8},
}

Peer-reviewed abstracts and extended abstracts

2024

Control Strategies for the Task Definition of Constrained Bimanual Manipulation

Seyonne Leslie-Dalley , Keir Groves , and Bruno Vilhena Adorno

In 5th UK Robot Manipulation Workshop , 2024

Abs Bib HTML

This work describes two use-cases to present strategies for the definition of constrained bimanual manipulation tasks. We use the cooperative dual task-space (CDTS) framework, vector field inequalities (VFIs) and geometric primitives such as Plücker lines and planes to implement collision avoidance with the environment and preserve the integrity of the task. Simulations of the use-cases were carried out and showed that all implemented constraints were upheld through the execution of the bimanual manipulation task.
@inproceedings{leslie-dalley_control_2024, address = {Oxford, UK}, title = {Control {Strategies} for the {Task} {Definition} of {Constrained} {Bimanual} {Manipulation}}, copyright = {All rights reserved}, booktitle = {5th {UK} {Robot} {Manipulation} {Workshop}}, author = {Leslie-Dalley, Seyonne and Groves, Keir and Adorno, Bruno Vilhena}, year = {2024}, pages = {1--2}, }

Automated Robotic Needle Puncture for Percutaneous Dilatational Tracheostomy

Yuan Tang , Brendan McGrath , Andrew Weightman , and Bruno Vilhena Adorno

In 5th UK Robot Manipulation Workshop , 2024

Bib HTML

@inproceedings{tang_automated_2024,
  address = {Oxford, UK},
  title = {Automated {Robotic} {Needle} {Puncture} for {Percutaneous} {Dilatational} {Tracheostomy}},
  copyright = {All rights reserved},
  booktitle = {5th {UK} {Robot} {Manipulation} {Workshop}},
  author = {Tang, Yuan and McGrath, Brendan and Weightman, Andrew and Adorno, Bruno Vilhena},
  year = {2024},
  pages = {1--2},
}

2023

Receding Horizon Contact Planning for Advanced Motions in Hexapod Robots

Daniel Johnson , Bruno Vilhena Adorno, and Simon Watson

In Proceedings of the 24th Annual TAROS 2023 Conference - Extended Abstracts , 2023

Abs Bib HTML

This work proposes a planning approach for advanced motions in hexapod robots. Contact sequences are explored until a user-defined planning horizon is reached. The contact change leading to the best position on the horizon is executed, and exploration resumes. In preliminary simulations, the algorithm consistently returned paths requiring at least 20% fewer contact changes than the state-of-the-art. Our algorithm generated 48.0% fewer nodes than the state-of-the-art in one terrain and 0.5% more in another, leading future work to examine the effects of specific environmental features on the number of nodes generated.
@inproceedings{johnson_receding_2023, address = {Cambridge, UK}, title = {Receding {Horizon} {Contact} {Planning} for {Advanced} {Motions} in {Hexapod} {Robots}}, copyright = {All rights reserved}, booktitle = {Proceedings of the 24th {Annual} {TAROS} 2023 {Conference} - {Extended} {Abstracts}}, author = {Johnson, Daniel and Adorno, Bruno Vilhena and Watson, Simon}, year = {2023}, pages = {34--37}, }
Receding Horizon Contact Planning for Agile Motions in Hexapod Robots

Daniel Johnson , Bruno Vilhena Adorno, and Simon Watson

In ICRA 2023 Workshop on Agile Movements: Animal Behavior, Biomechanics, and Robot Devices , 2023

Abs Bib HTML

This work proposes a planning approach for agile motions in hexapod robots. The algorithm explores contact sequences until a user-defined planning horizon is reached. The move leading to the best position on the horizon is executed, and exploration resumes. The planning comprising exploration plus optimal motion within the planning horizon continues until the desired stance is reached. In preliminary simulations, the algorithm returned a path requiring 33% fewer contact changes than the state of the art while generating 64% more nodes.
@inproceedings{johnson_receding_2024, address = {London}, title = {Receding {Horizon} {Contact} {Planning} for {Agile} {Motions} in {Hexapod} {Robots}}, copyright = {All rights reserved}, booktitle = {{ICRA} 2023 {Workshop} on {Agile} {Movements}: {Animal} {Behavior}, {Biomechanics}, and {Robot} {Devices}}, author = {Johnson, Daniel and Adorno, Bruno Vilhena and Watson, Simon}, year = {2023}, pages = {1--3}, }

Clinical Perspective of Developing Robotic Systems for Assisting Percutaneous Tracheostomy

Yuan Tang , Lutong Li , Pu Yuan , Zhanghao Lu , Bruno V. Adorno, Brendan Mcgrath , and Andrew Weightman

In 28th Congress of the European Society of Biomechanics, July 9-12, 2023, Maastricht, the Netherlands , Apr 2023

Bib HTML

@inproceedings{tang_clinical_2023,
  title = {Clinical {Perspective} of {Developing} {Robotic} {Systems} for {Assisting} {Percutaneous} {Tracheostomy}},
  copyright = {All rights reserved},
  language = {English},
  booktitle = {28th {Congress} of the {European} {Society} of {Biomechanics}, {July} 9-12, 2023, {Maastricht}, the {Netherlands}},
  author = {Tang, Yuan and Li, Lutong and Yuan, Pu and Lu, Zhanghao and Adorno, Bruno V. and Mcgrath, Brendan and Weightman, Andrew},
  month = apr,
  year = {2023},
}