Compensation of Physiological Motion using Linear Predictive Force Control

Abstract : This paper proposes a new approach to compensate the physiological motion, induced by respiration and heart beating, for robotized minimally invasive cardiac surgery. The control algorithm, based on a linear predictive control, uses the effort information applied on the heart by the instrument.
Type de document :
Communication dans un congrès
IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. IEEE, IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems, pp.1173-1178, 2008, 〈10.1109/IROS.2008.4651011〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00286411
Contributeur : Philippe Poignet <>
Soumis le : lundi 9 juin 2008 - 13:20:57
Dernière modification le : lundi 23 juillet 2018 - 10:43:54

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Michel Dominici, Philippe Poignet, Etienne Dombre. Compensation of Physiological Motion using Linear Predictive Force Control. IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. IEEE, IEEE/RSJ 2008 International Conference on Intelligent RObots and Systems, pp.1173-1178, 2008, 〈10.1109/IROS.2008.4651011〉. 〈lirmm-00286411〉

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