Publications

From Rii

Revision as of 07:10, 29 September 2010

Journal Publications

1. J. Ding, R. E. Goldman, K. Xu, S. Liu, P. Allen, D. Fowler, N. Simaan, “Design and Coordination Kinematics of an Insertable Robotic Effectors Platform (IREP) for Single Port Access Surgery”, submitted to IEEE/ASME Transactions on Mechatronics, 2010
2. K. Xu and N. Simaan, "Intrinsic Wrench Estimation and Its Performance Index of Multi-Segment Continuum Robots," IEEE Transactions on Robotics, Vol.26, pp.555-561, June, 2010 [FULLTEXT]
3. K. Xu and N. Simaan, "Analytic Formulation for Kinematics, Statics and Shape Restoration of Multi-Backbone Continuum Robots via Elliptic Integrals," ASME Journal of Mechanisms and Robotics, Vol. 2, DoI.011006-1, Feb, 2010 [FULLTEXT]
4. N. Simaan, K. Xu, A. Kapoor, W. Wei, P. Kazanzides, P. Flint, and R. H. Taylor, "Design and Integration of a Telerobotic System for Minimally Invasive Surgery of the Throat," International Journal of Robotics Research, Vol. 28, No. 9, 1134-1153 [FULLTEXT]
5. K. Xu and N. Simaan, "An Investigation of the Intrinsic Force Sensing Capabilities of Continuum Robots," IEEE Transactions on Robotics, vol. 24, pp. 576-587, June 2008 [FULLTEXT]
6. K. Xu, K. Chen, L. Liu, and D. Yang, "Walking Gait Compensation Algorithm for Humanoid Robots Based on Universal Force-Moment Sensors and Joint Torques," Robotics, vol. 28, No.2, pp. 213-218, 2006 (In Chinese)
7. K. Xu, K. Chen, L. Liu, and D. Yang, "Fast Walking Gait Planning Algorithm for Humanoid Robots Based on Optimization of the Main Support Leg," Robotics, vol. 27, No.3, pp203-209, 2005 (In Chinese)
8. J. Zhao, K. Xu, C. Fu, X. Yang, and K. Chen, "The Self-Regulating Nonlinear Control of Ankle Roll Joint of Humanoid Robot," Robotics, vol. 26, No.2, pp. 127-132, 2004 (In Chinese)
9. D. Yang, L. Liu, K. Xu, J. Wang, and K. Chen, "Kinematics Analysis of the Humanoid Robot," Chinese Journal of Mechanical Engineering, vol. 39, Sep. 2003 (In Chinese)
10. Y. Ou, K. Chen, K. Xu, and J. Wang, "Analysis of Elastic Deformation Effects on Gait Planning of Humanoid Robots," Machine Tool and Hydraulics, vol. 185, pp. 19-21, May 2003 (In Chinese)
11. J. Zhao, L. Shao, K. Xu, L. Liu, and K. Chen, "Research on the Servo Control System of the Humanoid Robot Joints Based on CAN Bus," Robotics, vol. 24, No.5, pp. 421-427, 2002 (In Chinese)
12. D. Yang, K. Xu, L. Liu, and K. Chen, "Virtual Simulations for Humanoid Robots in the 3DS Max," Machinery Design and Manufacture, vol. 4, pp. 48-49, Aug 2002 (In Chinese)

Conference Paper

1. J. Ding, K. Xu, R. Goldman, P. K. Allen, D. L. Fowler, and N. Simaan, “Design, Simulation and Evaluation of Kinematic Alternatives for Insertable Robotic Effectors Platforms in Single Port Access Surgery” in IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, USA, 2010, pp. 1053-1058 [FULLTEXT]
2. K. Xu, R. E. Goldman, J. Ding, P. K. Allen, D. L. Fowler, and N. Simaan, "System Design of an Insertable Robotic Effector Platform for Single Port Access (SPA) Surgery," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO. USA, 2009, pp.5546-5552 [FULLTEXT]
3. J. Zhang, K. Xu, N. Simaan, and S. Manolidis, "A Pilot Study of Robot-Assisted Cochlear Implant Surgery Using Steerable Electrode Arrays," in International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI), Copenhagen, Sweden, 2006, pp. 33-40 (Best Student Paper Award) [FULLTEXT]
4. W. Wei, K. Xu, and N. Simaan, "A Compact Two-armed Slave Manipulator for Minimally Invasive Surgery of the Throat," in IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), Pisa, Italy, 2006, pp. 769-774
5. K. Xu and N. Simaan, "Actuation Compensation for Flexible Surgical Snake-like Robots with Redundant Remote Actuation," in IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, 2006, pp. 4148- 4154 [FULLTEXT]
6. M. Zhao, L. Liu, J. Wang, K. Chen, J. Zhao, and K. Xu, "Control System Design of THBIP-I Humanoid Robot," in IEEE International Conference on Robotics and Automation (ICRA), Washington, DC, USA, 2002, pp. 2253-2258
7. L. Liu, J. Wang, K. Chen, D. Yang, and K. Xu, "A New Method of Three-Dimensional Walking Trajectory Planning for Biped Robots," in International Conference on Climbing and Walking Robot (CLAWAR), Karlsruhe, Germany, 2001, pp. 797-804
8. K. Xu, K. Chen, J. Wang, L. Liu, D. Yang, and J. Zhao, "A New Method of Gait Generation for a Biped Walking Robot," in IEEE-RAS International Conference on Humanoid Robots, Tokyo, Japan, 2001,

Patents

1. Nabil Simaan, Kai Xu, Roger Goldman, Peter Allen, Dennis Fowler, "Systems, Devices, and Methods for Providing insertable Robotic Sensory and Manipulation Platforms for Single Port Surgery," U.S. 61/103,415, October 2008.
2. Nabil Simaan, Kai Xu, "System and Method for Intrinsic Force Sensing and its Performance Index of Multi-Segment Robots," U.S. 61/147,275, January 2009.
3. Jinsong Wang, Ken Chen, Jiwu Wang, Qingwen Lai, Li Liu, Minguo Zhao, Dongchao Yang, Jiandong Zhao, Kai Xu, Xing Ouyang, Lijun Shao and Dingding Lin, "4-link transmission structure in the hip joint of a humanoid robot", patent SN: CN 1317400A
4. Jinsong Wang, Ken Chen, Jiwu Wang, Qingwen Lai, Li Liu, Minguo Zhao, Dongchao Yang, Jiandong Zhao, Kai Xu, Xing Ouyang, Lijun Shao and Dingding Lin, "Transmission device in the hip joint of a humanoid robot," patent SN: CN 1351923
5. Jinsong Wang, Ken Chen, Jiwu Wang, Qingwen Lai, Li Liu, Minguo Zhao, Dongchao Yang, Jiandong Zhao, Kai Xu, Xing Ouyang, Lijun Shao and Dingding Lin, "4-link transmission structure in the ankle joint of a humanoid robot," patent SN: CN 1317399A
6. Jinsong Wang, Ken Chen, Jiwu Wang, Qingwen Lai, Li Liu, Minguo Zhao, Dongchao Yang, Jiandong Zhao, Kai Xu, Xing Ouyang, Lijun Shao and Dingding Lin, "Transmission device in the ankle joint of a humanoid robot," patent SN: CN 1351924

Doctoral Dissertation

K. Xu, "Design, Modeling and Analysis of Continuum Robots as Surgical Assistants with Intrinsic Sensory Capabilities," in Mechanical Engineering. New York: Columbia University, 2009.