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, pp.1173-1178, 2008, 〈10.1109/IROS.2008.4651011〉
Liste complète des métadonnées

https://hal-lirmm.ccsd.cnrs.fr/lirmm-00286411
Contributeur : Philippe Poignet <>
Soumis le : lundi 9 juin 2008 - 13:20:57
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

Identifiants

Collections

Citation

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, pp.1173-1178, 2008, 〈10.1109/IROS.2008.4651011〉. 〈lirmm-00286411〉

Partager

Métriques

Consultations de la notice

215