Rii - User contributions [en]

KaiXu

2010-10-08T07:35:19Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}
{|border="1"
|rowspan="5"|[[image:KaiXu.jpg]]
|Dr. Kai Xu （[http://www.gs.sjtu.edu.cn/tutor/showTutor.ahtml?tsid=15637 徐凯]）
|-
|Assistant Professor
|-
|RM 213, JI Building, UM-SJTU Joint Institute
|-
|Shanghai Jiao Tong University
|-
|k.xu@sjtu.edu.cn
|}
 
{|
!colspan="2" align="left"|<h4>Education / 教育背景</h4>
----
|-
|'''Columbia University in the City of New York, U.S.A'''
* 2009' Doctor of Philosophy, Department of Mechanical Engineering
* 2007' Master of Philosophy, Department of Mechanical Engineering
|'''美国哥伦比亚大学'''
* 2009年获机械工程系博士学位
* 2007年获机械工程系硕士学位
|-
|'''Tsinghua University, Beijing, P. R. China'''
* 2004' Master of Science, Department of Precision Instruments and Mechanology
* 2001' Bachelor of Engineering, Department of Precision Instruments and Mechanology
 
|'''中国清华大学'''
* 2004年获精密仪器与机械学系硕士学位
* 2001年获精密仪器与机械学系学士学位
 
|-
!colspan="2" align="left"|<h4>Honors / 获奖情况</h4>
----
|-
|
* 2010' Marquis Who's Who in America
* 2009' New Century Excellent Talents in University (NCET)
* 2008' Governmental Award for Outstanding Self-Financed Students Abroad
* 2004' Presidential Distinguished Fellowship, Columbia University
* 2004' Excellent Master Thesis Award, Tsinghua University
* 2002' Guanghua Scholarship, Second Prize, Tsinghua University
* 2001' Leadership Scholarship for Outstanding Student Leaders, Tsinghua University
* 2000' Guanghua Scholarship, Second Prize, Tsinghua University
* 1999' IET Scholarship for Excellent Academic and Leadership Performance
* 1998' Second Prize for the Excellent Academic Performances, Tsinghua University
* 1997' Second Prize for the Outstanding Freshmen, Tsinghua University
* 1996' National First Prize in the Chinese Mathematical Olympiad
* 1996' National First Prize in the Chinese Physics Olympiad
* 1996' National Second Prize in the Chinese Chemistry Olympiad
 
|
* 2010年入选Marquis美国名人录
* 2009年入选中国教育部新世纪优秀人才支持计划
* 2008年获国家优秀自费留学生奖学金
* 2004年获哥伦比亚大学杰出的总统奖学金
* 2004年获清华大学优秀硕士毕业论文
* 2002年获清华大学光华二等奖学金
* 2001年获清华大学优秀学生干部奖学金
* 2000年获清华大学光华二等奖学金
* 1999年获IET基金会奖学金
* 1998年获清华大学优秀学业二等奖学金
* 1997年获年获清华优秀新生二等奖学金
* 1996年获中国数学奥林匹克竞赛全国一等奖
* 1996年获中国物理奥林匹克竞赛全国一等奖
* 1996年获中国化学奥林匹克竞赛全国二等奖
 
|-
!colspan="2" align="left"|<h4>Research Interests / 科研领域</h4>
----
|-
|
* Medical Robotics
** Surgical assistants for laparoscopic procedures
** N.O.T.E.S (Natural Orifice Translumenal Endoscopic Surgery)
** Wearable exoskeleton for rehabilitation
** Micro robots for vascular and intracranial procedures
|
* 医疗机器人
** 机器人辅助腹腔镜手术系统
** 机器人辅助基于内窥镜的无创手术系统
** 可穿戴式机动外骨骼辅助康复治疗
** 用于心血管和颅内手术的微机器人
|-
|
* Service Robotics
** Humanoid
** Wheeled mobile platform
** Robotics vision
|
* 服务业机器人
** 拟人机器人
** 特种轮式移动平台
** 机器人视觉
|-
|
* Robotics Fundamentals
** Theoretical kinematics
** Force control and haptics
** Synthesis of continuum mechanisms and robots
** MEMS
 
|
* 机器人学理论
** 理论运动学
** 力感知和力控制
** 连续体机构和连续体机器人的设计
** 微电子机械系统
 
|-
!colspan="2" align="left"|<h4>Teaching Interests / 教学科目</h4>
----
|-
|
* Fundamental ME courses
** Design and Manufacturing
* Robotics courses
** Introduction to Robotics
** Advanced Topics in Robotics and Mechanism Synthesis
|
* 机械工程基础专业课
** 设计与制造
* 机器人学专业课
** 机器人学导论
** 高等机器人学和机构学
|}

KaiXu

2010-10-08T06:40:51Z

Roiilab@gmail.com:

KaiXu

2010-10-08T06:38:55Z

Roiilab@gmail.com:

Research THBIP2000

2010-10-03T07:41:43Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= Gait Generation and System Integration for the THBIP-I Humanoid Robot =
August 2000 to September 2003

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://ime.pim.tsinghua.edu.cn/research/research33.html the Robotics & Automation Lab, Department of Precision Instrument and Mechanology, Tsinghua University]

[[image:Research_THBIP2000.jpg‎|border]]

That was a China’s systematic effort developping humanoid technology. The THBIP-I robot had 27 independent DoFs with a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems. It was able to conduct autonomous walking using its on-board battery and manipulate small objects.

Dr. Xu was involved in mechanism design, gait generation algorithms, kinematics modeling, dynamics and vibration modeling, experimental validation, formulating real-time gesture compensation, task planning designed, etc. He also served as a coordinator, organzing meetings, experiments, progress documentation, etc.

The following video clips show walking experiments of the THBIP-I humanoid robots using onboard batteries from year 2003.
{|
|align="center"|'''8 seconds per step'''
|align="center"|'''6 seconds per step'''
|-
|<videoflash type="youku">XMjExNDgzODYw|400|338</videoflash>
|<videoflash type="youku">XMjExNDY2MzE2|400|338</videoflash>
|}

Research ThroatMIS2004

2010-10-03T07:41:02Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Telerobotic System for Minimally Invasive Surgery of the Throat =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University] under a collaboration with [http://www.cisst.org/ the NSF Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST), Johns Hopkins University].

[[File: Research_ThroatMIS2004_1.jpg‎|thumb|380px|A telerobotic system for Minimally Invasive Surgery of the throat.]]

To address the challenges of Minimally Invasive Surgery (MIS) of the throat and the upper airways, a prototype teleoperative robotic system was designed and constructed. The right figure shows the system schematic layout while the figure below shows the actual system which is running at NEF Engineering Research Center of Computer Integrated Surgical Systems and Technology (CISST), Johns Hopkins University. This system includes 2D and 3D displays, a novel highly dexterous dual-arm robotic slave, a bilateral teleoperation system, and a da Vinci® master interface from Intuitive Surgical, Inc.

The teleoperation system comprised five computers connected through a Local Area Network (LAN). Two computers are used for the dual-arm admittance-type slave robot and two computers are used for the impedance-type da Vinci® master, while a fifth computer hosts the image acquisition and display hardware. A stereo laparoscope is connected to two image capture cards to for dual video stream to generate stereo display for a surgeon and a 2D display for general purposes. Although no image processing is performed currently, incorporating visual tracking information from the video processing can be easily implemented in this system configuration in the future. Using a separate controller for each robotic arm allows modular expansion of the system, such as addition of a third slave arm, with minimal changes to the existing system.

[[File: Research_ThroatMIS2004_2.jpg‎|thumb|380px|The actual teleoperative robotic system for the Minimally Invasive Surgery of the throat. Picture taken at the NEF Engineering Research Center of Computer Integrated Surgical Systems and Technology (CISST), Johns Hopkins University.]]

The dual-arm slave robot consists of two robotic arms. Each robot arm is composed of i) a 2-segment snake-like continuum robot with a detachable gripper, ii) an actuation unit for the snake-like continuum robot, iii) a flexible stem which connects the snake-like robot with the actuation unit, iv) a 5-bar parallel robot which bends the flexible stem for the placement of the snake-like robot, and v) a z-φ stage which translates the snake-like robot vertically and delivers an axial rotation to the snake-like robot.

* Each 2-segment snake-like continuum robot consists of two continuum segments and a detachable gripper. The first segment is located proximal to the flexible stem while the second segment is located close to the gripper. The first segment is actuated by NiTi tubes while the second segment is actuated by NiTi thin beams passing through the first segment’s tubes. The snake-like continuum robot has four degrees of freedom to provide necessary dexterity inside the throat. Furthermore, since the robot is made from NiTi and aluminum, it could provide MRI compatibility if necessary (e.g. in neurosurgery) and support multiple modalities including drug/light/laser delivery through the tubes of the secondary backbones. The current design has Ø4.2mm disks and a pitch diameter of 3.0 mm (the diameter of the circumference around which the secondary backbones are distributed). The first segment is 23mm long and its tubular backbones have an outer diameter of 0.635mm and an inner diameter of 0.508mm. The second segment is 12mm long and its beam backbones have an outer diameter of 0.406mm. The minimal bending radius that corresponds to 4% strain in the superelastic backbones is 7.8125 mm for the first segment and 5.08 mm for the second segment. This strain limit was established based on our experimental evaluation and recent literature on fatigue of super-elastic wires, e.g. (Nemat-Nassera and Guo 2006).
* A flexible stem transmits mechanical actuation from the actuation unit to the 2-segment snake-like robot. This configuration allows remotizing the actuation units from the laryngoscope’s entry point in order to provide enough access for visualization of the larynx. Furthermore, it also allows to accommodate the size of the actuation units, since when two actuation units are placed next to each other, it requires an opening much bigger than the opening of a normally-used laryngoscope.
* Each z-φ stage provides two degrees of freedom, which are rotation about and translation along the longitudinal axis of the flexible stem. This rotation will be converted by the snake-like continuum robot into rotation about the longitudinal axis of the gripper through a special mode of operation called rotation about the backbone. When the base of the snake-like robot is rotated by the z-φ stage through the flexible stem, the snake-like robot can be controlled accordingly by assigning an angular velocity with an identical magnitude. The resultant motion will be a rotation about the longitudinal axis of the gripper, which would enable suturing motion in any direction within the orientation workspace of the snake-like robot.
* The 5-bar parallel robot bends the flexible stem to provide precise placement of the snake-like continuum robot inside the laryngoscope. This configuration will generate much less collision problems and ensure a better overall system stiffness than if the actuation unit itself is manipulated. In the current setup, the actuation unit is rigidly fixed to a stationary base frame and the 5-bar parallel robot uses flexibility of the flexible stem in order to precisely place the snake-like robot. The placement can be approximated as a two-DoF planar motion in the kinematics modeling.
* Each robotic slave arm has a total eight degrees of freedom to control the end effector (the gripper). This configuration provides kinematic redundancy for the slave arm to avoid collision with each other and/or perform complicated tasks. Since each segment of the snake-like robot has three independently actuated joints to provide actuation redundancy to optimize the load between backbones, plus one controlled joint is used to control the gripper, each robotic slave arm has eleven actuated joints.

In the following video clips, major components of the telerobotic system for the throat MIS are introduced, while a know tying is performed under the control of a surgeon. For sake of time, playback speed of some scenes are doubled.
{|
|align="center"|'''Overview of the Telerobotic System for Throat MIS'''
|align="center"|'''Knot Tying of the Telerobotic System for Throat MIS'''
|-
|<videoflash type="youku">XMjExNDQ2NTM2|400|338</videoflash>
|<videoflash type="youku">XMjExNDQ0MTA0|400|338</videoflash>
|}

Research IREP2007

2010-10-03T07:40:31Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= An Image-Guided In-Vivo Tooling Platform for Minimal Access Surgery =
September 2007 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University] under a collaboration with [http://www1.cs.columbia.edu/robotics/ Robotics Lab, Department of Computer Science, Columbia University].

[[File: Research_IREP2007_1.jpg‎|thumb|380px|A teleoperative robotic system for Single Port Access (SPA) abdominal surgery: (A) folded configuration (B) working configuration]]

A robotic system for the Single Port Access (SPA) surgeries should be capable at least doing the following:
* The robot should have a folded configuration so that it can pass through a single small skin incision;
* The robot should be self deployable into a working configuration;
* The robot can manipulate target organs and their related tissues (such as gallbladder, hepatic tissues, pancreas, etc.) with enough precision and payload;
* End effectors of the robot can be independently replaced during operations for different tasks;
* The translational workspace should be bigger than 50mm×50mm×50mm (size of target organs);
* The robot should posses a stereo vision unit for depth perception and tool tracking;
* Illumination should to be integrated into the robot.

To meet the challenges of SPA surgeries, an Insertable Robotic Effector Platform (IREP) shown in the figure is designed by merging enabling technologies of endoscopic imaging (Hu, Allen et al. 2007; Hogle, Hu et al. 2008; Hu, Allen et al. 2008; Hu, Allen et al. 2008) and distal dexterity enhancement (Kapoor, Simaan et al. 2005; Simaan 2005; Xu and Simaan 2006; Xu and Simaan 2008; Simaan, Xu et al. 2009)

[[File: Research_IREP2007_2.jpg‎|thumb|380px|The control system hierarchy for the IREP robot]]

The IREP robot consists of two five-DoF snake-like continuum robots, two two-DoF parallelogram mechanisms, and one three-DoF stereo vision module. It is designed to meet the challenge of enabling abdominal SPA procedures, such as cholecystectomy, appendectomy, liver resection, etc. When it is in its folded configuration, it can be deployed into the abdomen through an Ø15mm skin incision while using its forward-looking stereo vision module to guide surgeons through the insertion phase. The IREP can then unfold itself into a working configuration to perform SPA procedures after being deployed.

* Each snake-like continuum robot includes four components: i) a gripper, ii) a one-DoF rotational wrist, iii) a four-DoF continuum snake arm and iv) a flexible stem. It acts as a surgical telemanipulation slave for dual arm interventions and delivery of sensors (e.g. ultrasound probe) or energy sources (e.g. cautery). During SPA procedures, each of the arms of the IREP robot can be independently pulled out and replaced with another arm equipped with different surgical end effectors.
* Each parallelogram mechanism has two degrees of freedom for a translational placement of the snake-like continuum robot. The flexible stem will be independently fed in and out to comply with the parallelogram’s motion.
* The stereo vision module has a pair of CCD cameras for depth perception as well as surgical tool tracking. It has three degrees of freedom for pan, tilt, and zoom. A light source using optic fiber bundles is also integrated.
* All these controlled joints will be actuated by NiTi tubes or stainless steel rods in push-pull mode. The actuation unit will remain outside patient’s body.

The control system of the IREP robot uses a host-target environment powered by xPC Target™ from The MathWorks, Inc, which provides a rapid prototyping approach for control system setup in an open hardware architecture.

The planned control hierarchy is presented in the figure to the right. A GUI running on the host PC takes motion inputs from two master manipulators and then sends them down to the target PC via ethernet connection after scaling and mapping. Target PC processes the desired motions of the IREP robot by solving kinematics and redundancy resolution in a 1kHz servo control loop. A third PC running vision processing module will output the stereo display for surgeons and feed tool tracking results to the host PC for motion compensations of the IREP’s dual snake-like arms.

A simulation of the IREP robot is shown, demonstrating different operation modes during the insertion configuration and the working configuration.

<videoflash type="youku">XOTUxODgyODA|590|480</videoflash>

Research continuum2004

2010-10-03T07:38:51Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Continuum Structure as Medical Robotic End Effector =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

[[File: Research_continuum2004_1.jpg|thumb|380px|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple superelastic NiTi components (tubes or beams) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

[[File: Research_continuum2004_2.jpg|thumb|240px|Structure of one continuum segment]]

Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

According to the modeling framework presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005), shape of the continuum segment shown in Figure 2.1 assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.
{|
|align="center"|'''An one-segment continuum robot simulatied in MATLAB'''
|align="center"|'''A three-segment continuum robot in palpation'''
|-
|<videoflash type="youku">XMjExNDQzNDQ0|400|338</videoflash>
|<videoflash type="youku">XOTUxODMyMjA|400|338</videoflash>
|}

Research THBIP2000

2010-10-03T07:21:15Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= Gait Generation and System Integration for the THBIP-I Humanoid Robot =
August 2000 to September 2003

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://ime.pim.tsinghua.edu.cn/research/research33.html the Robotics & Automation Lab, Department of Precision Instrument and Mechanology, Tsinghua University]

[[image:Research_THBIP2000.jpg‎|border]]

That was a China’s systematic effort developping humanoid technology. The THBIP-I robot had 27 independent DoFs with a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems. It was able to conduct autonomous walking using its on-board battery and manipulate small objects.

Dr. Xu was involved in mechanism design, gait generation algorithms, kinematics modeling, dynamics and vibration modeling, experimental validation, formulating real-time gesture compensation, task planning designed, etc. He also served as a coordinator, organzing meetings, experiments, progress documentation, etc.

The following video clips show walking experiments of the THBIP-I humanoid robots using onboard batteries from year 2003.
{|
|align="center"|'''8 seconds per step'''
|align="center"|'''6 seconds per step'''
|-
|<videoflash type="youku">XMjExNDgzODYw</videoflash>
|<videoflash type="youku">XMjExNDY2MzE2</videoflash>
|}

Research THBIP2000

2010-10-03T07:19:17Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= Gait Generation and System Integration for the THBIP-I Humanoid Robot =
August 2000 to September 2003

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://ime.pim.tsinghua.edu.cn/research/research33.html the Robotics & Automation Lab, Department of Precision Instrument and Mechanology, Tsinghua University]

[[image:Research_THBIP2000.jpg‎|border]]

That was a China’s systematic effort developping humanoid technology. The THBIP-I robot had 27 independent DoFs with a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems. It was able to conduct autonomous walking using its on-board battery and manipulate small objects.

Dr. Xu was involved in mechanism design, gait generation algorithms, kinematics modeling, dynamics and vibration modeling, experimental validation, formulating real-time gesture compensation, task planning designed, etc. He also served as a coordinator, organzing meetings, experiments, progress documentation, etc.

The following video clips show walking experiments of the THBIP-I humanoid robots in year 2003.
{|
|align="center"|'''8 seconds per step'''
|align="center"|'''6 seconds per step'''
|-
|<videoflash type="youku">XMjExNDgzODYw</videoflash>
|<videoflash type="youku">XMjExNDY2MzE2</videoflash>
|}

VM467

2010-10-03T06:54:38Z

Roiilab@gmail.com:

= Introduction to robotics =

This is an undergraduate level course intended to introduce students to Robotics. The course covers major fundamental aspects of robotics, including spatial motion of rigid bodies, kinematics and instantaneous kinematics, motion planning, statics and dynamics, control of robotic systems, robotic vision, nonholonomic systems, etc. In addition, introductory lectures on sensing and actuation technologies and advanced robotics topics will also be given in class.

By the end of this course, students should be able to independently present a comprehensive analysis for an existing robotic system, including the geometry, kinematics, differential kinematics, dynamics, control and motion planning. This course prepares undergraduate students for their future pursuit in robotics and many other related disciplines.

== Fall 2009 ==
In this term, students were asked to reproduce simulations of published papers. Selected demos can be viewed below.
{|border="1"
|align="center"|'''Ocular Surgery: Radial Keratotomy'''
|align="center"|'''Three-Finger Grasping and Manipulation'''
|align="center"|'''Ocular Surgery: Eyeball Manipulation'''
|-
|<videoflash type="youku">XMTQwMDM1NzQ0|260|235</videoflash>
|<videoflash type="youku">XMTQwMDM0NzUy|260|235</videoflash>
|<videoflash type="youku">XMTQwMDM1ODI4|260|235</videoflash>
|-
|align="center"|'''A Dexterous Ball Joint Wrist'''
!colspan="2"|'''Double Screwed Drive Mechanisms on a Stanford Manipulator'''
|-
|<videoflash type="youku">XMTQwMDM1NDI0|260|235</videoflash>
!colspan="2"|<videoflash type="youku">XMTQwMDM1MDA0|260|235</videoflash>
|}

VM467

2010-10-03T06:53:11Z

Roiilab@gmail.com: Created page with "= Introduction to robotics = This is an undergraduate level course intended to introduce students to Robotics. The course covers major fundamental aspects of robotics, including..."

= Introduction to robotics =

This is an undergraduate level course intended to introduce students to Robotics. The course covers major fundamental aspects of robotics, including spatial motion of rigid bodies, kinematics and instantaneous kinematics, motion planning, statics and dynamics, control of robotic systems, robotic vision, nonholonomic systems, etc. In addition, introductory lectures on sensing and actuation technologies and advanced robotics topics will also be given in class.

By the end of this course, students should be able to independently present a comprehensive analysis for an existing robotic system, including the geometry, kinematics, differential kinematics, dynamics, control and motion planning. This course prepares undergraduate students for their future pursuit in robotics and many other related disciplines.

== Fall 2009 ==
In this term, students were asked to reproduce simulations of published papers. Selected demos can be viewed below.
{|
|'''Ocular Surgery: Radial Keratotomy'''
|'''Three-Finger Grasping and Manipulation'''
|'''Ocular Surgery: Eyeball Manipulation'''
|-
|<videoflash type="youku">XMTQwMDM1NzQ0|260|235</videoflash>
|<videoflash type="youku">XMTQwMDM0NzUy|260|235</videoflash>
|<videoflash type="youku">XMTQwMDM1ODI4|260|235</videoflash>
|-
|'''A Dexterous Ball Joint Wrist'''
!colspan="2"|'''Double Screwed Drive Mechanisms on a Stanford Manipulator'''
|-
|<videoflash type="youku">XMTQwMDM1NDI0|260|235</videoflash>
!colspan="2"|<videoflash type="youku">XMTQwMDM1MDA0|260|235</videoflash>
|}

Research ThroatMIS2004

2010-10-03T05:50:25Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Telerobotic System for Minimally Invasive Surgery of the Throat =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University] under a collaboration with [http://www.cisst.org/ the NSF Engineering Research Center for Computer-Integrated Surgical Systems and Technology (CISST), Johns Hopkins University].

[[File: Research_ThroatMIS2004_1.jpg‎|thumb|380px|A telerobotic system for Minimally Invasive Surgery of the throat.]]

To address the challenges of Minimally Invasive Surgery (MIS) of the throat and the upper airways, a prototype teleoperative robotic system was designed and constructed. The right figure shows the system schematic layout while the figure below shows the actual system which is running at NEF Engineering Research Center of Computer Integrated Surgical Systems and Technology (CISST), Johns Hopkins University. This system includes 2D and 3D displays, a novel highly dexterous dual-arm robotic slave, a bilateral teleoperation system, and a da Vinci® master interface from Intuitive Surgical, Inc.

The teleoperation system comprised five computers connected through a Local Area Network (LAN). Two computers are used for the dual-arm admittance-type slave robot and two computers are used for the impedance-type da Vinci® master, while a fifth computer hosts the image acquisition and display hardware. A stereo laparoscope is connected to two image capture cards to for dual video stream to generate stereo display for a surgeon and a 2D display for general purposes. Although no image processing is performed currently, incorporating visual tracking information from the video processing can be easily implemented in this system configuration in the future. Using a separate controller for each robotic arm allows modular expansion of the system, such as addition of a third slave arm, with minimal changes to the existing system.

[[File: Research_ThroatMIS2004_2.jpg‎|thumb|380px|The actual teleoperative robotic system for the Minimally Invasive Surgery of the throat. Picture taken at the NEF Engineering Research Center of Computer Integrated Surgical Systems and Technology (CISST), Johns Hopkins University.]]

The dual-arm slave robot consists of two robotic arms. Each robot arm is composed of i) a 2-segment snake-like continuum robot with a detachable gripper, ii) an actuation unit for the snake-like continuum robot, iii) a flexible stem which connects the snake-like robot with the actuation unit, iv) a 5-bar parallel robot which bends the flexible stem for the placement of the snake-like robot, and v) a z-φ stage which translates the snake-like robot vertically and delivers an axial rotation to the snake-like robot.

* Each 2-segment snake-like continuum robot consists of two continuum segments and a detachable gripper. The first segment is located proximal to the flexible stem while the second segment is located close to the gripper. The first segment is actuated by NiTi tubes while the second segment is actuated by NiTi thin beams passing through the first segment’s tubes. The snake-like continuum robot has four degrees of freedom to provide necessary dexterity inside the throat. Furthermore, since the robot is made from NiTi and aluminum, it could provide MRI compatibility if necessary (e.g. in neurosurgery) and support multiple modalities including drug/light/laser delivery through the tubes of the secondary backbones. The current design has Ø4.2mm disks and a pitch diameter of 3.0 mm (the diameter of the circumference around which the secondary backbones are distributed). The first segment is 23mm long and its tubular backbones have an outer diameter of 0.635mm and an inner diameter of 0.508mm. The second segment is 12mm long and its beam backbones have an outer diameter of 0.406mm. The minimal bending radius that corresponds to 4% strain in the superelastic backbones is 7.8125 mm for the first segment and 5.08 mm for the second segment. This strain limit was established based on our experimental evaluation and recent literature on fatigue of super-elastic wires, e.g. (Nemat-Nassera and Guo 2006).
* A flexible stem transmits mechanical actuation from the actuation unit to the 2-segment snake-like robot. This configuration allows remotizing the actuation units from the laryngoscope’s entry point in order to provide enough access for visualization of the larynx. Furthermore, it also allows to accommodate the size of the actuation units, since when two actuation units are placed next to each other, it requires an opening much bigger than the opening of a normally-used laryngoscope.
* Each z-φ stage provides two degrees of freedom, which are rotation about and translation along the longitudinal axis of the flexible stem. This rotation will be converted by the snake-like continuum robot into rotation about the longitudinal axis of the gripper through a special mode of operation called rotation about the backbone. When the base of the snake-like robot is rotated by the z-φ stage through the flexible stem, the snake-like robot can be controlled accordingly by assigning an angular velocity with an identical magnitude. The resultant motion will be a rotation about the longitudinal axis of the gripper, which would enable suturing motion in any direction within the orientation workspace of the snake-like robot.
* The 5-bar parallel robot bends the flexible stem to provide precise placement of the snake-like continuum robot inside the laryngoscope. This configuration will generate much less collision problems and ensure a better overall system stiffness than if the actuation unit itself is manipulated. In the current setup, the actuation unit is rigidly fixed to a stationary base frame and the 5-bar parallel robot uses flexibility of the flexible stem in order to precisely place the snake-like robot. The placement can be approximated as a two-DoF planar motion in the kinematics modeling.
* Each robotic slave arm has a total eight degrees of freedom to control the end effector (the gripper). This configuration provides kinematic redundancy for the slave arm to avoid collision with each other and/or perform complicated tasks. Since each segment of the snake-like robot has three independently actuated joints to provide actuation redundancy to optimize the load between backbones, plus one controlled joint is used to control the gripper, each robotic slave arm has eleven actuated joints.

In the following video clips, major components of the telerobotic system for the throat MIS are introduced, while a know tying is performed under the control of a surgeon. For sake of time, playback speed of some scenes are doubled.
{|
|align="center"|'''Overview of the Telerobotic System for Throat MIS'''
|align="center"|'''Knot Tying of the Telerobotic System for Throat MIS'''
|-
|<videoflash type="youku">XMjExNDQ2NTM2</videoflash>
|<videoflash type="youku">XMjExNDQ0MTA0</videoflash>
|}

Research IREP2007

2010-10-03T05:38:23Z

Roiilab@gmail.com:

Research continuum2004

2010-10-03T05:28:06Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Continuum Structure as Medical Robotic End Effector =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

[[File: Research_continuum2004_1.jpg|thumb|380px|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple superelastic NiTi components (tubes or beams) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

[[File: Research_continuum2004_2.jpg|thumb|240px|Structure of one continuum segment]]

Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

According to the modeling framework presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005), shape of the continuum segment shown in Figure 2.1 assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

In the following video clips, an one-segment continuum robot is simulated in MATLAB. By changing the lengths of corresponding backbones, the robot will bend to the side. On the right, a three-segment continuum robot with force sensing capability is palpating a prostate model for tumor detection. For details, please refer to papers listed under the publication session.
{|
|align="center"|'''An one-segment continuum robot simulatied in MATLAB'''
|align="center"|'''A three-segment continuum robot in palpation'''
|-
|<videoflash type="youku">XMjExNDQzNDQ0</videoflash>
|<videoflash type="youku">XOTUxODMyMjA</videoflash>
|}

Research continuum2004

2010-10-03T05:23:15Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Continuum Structure as Medical Robotic End Effector =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

[[File: Research_continuum2004_1.jpg|thumb|380px|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple superelastic NiTi components (tubes or beams) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

[[File: Research_continuum2004_2.jpg|thumb|240px|Structure of one continuum segment]]

Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

According to the modeling framework presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005), shape of the continuum segment shown in Figure 2.1 assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

 
{|
|align="center"|'''An one-segment continuum robot simulatied in MATLAB'''
|align="center"|'''A three-segment continuum robot in palpation'''
|-
|<videoflash type="youku">XMjExNDQzNDQ0</videoflash>
|<videoflash type="youku">XOTUxODMyMjA</videoflash>
|}

Research continuum2004

2010-10-03T03:33:24Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Continuum Structure as Medical Robotic End Effector =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

[[File: Research_continuum2004_1.jpg|thumb|380px|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple superelastic NiTi components (tubes or beams) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

[[File: Research_continuum2004_2.jpg|thumb|200px|Structure of one continuum segment]]

Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

According to the modeling framework presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005), shape of the continuum segment shown in Figure 2.1 assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

'''A three-segment continuum robot with intrinsic force sensing capability'''
<videoflash type="youku">XOTUxODMyMjA</videoflash>

News

2010-10-03T03:26:41Z

Roiilab@gmail.com:

* [[openings_postdoc|Immediate openings for two postdoctoral researchers, Sept 26th, 2010]]
* Rii lab moves to its new location at Room 407 Dong Shang Yuan, Sept 13th, 2010
* Rii lab welcomes ite new incoming graduate stduents: Yuyu Ouyang, Dong Qiu and Xidian Zheng, Sept 6th, 2010
* Prof. Kai Xu is indexed Marquis Who's Who in America, Aug 4th, 2010
* Prof. Kai Xu is selected into the Program for New Century Excellent Talents in University from Ministry of Education, Mar 24th, 2010

News

2010-10-03T03:22:34Z

Roiilab@gmail.com:

Research continuum2004

2010-10-02T13:25:32Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Continuum Structure as Medical Robotic End Effector =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

[[File: Research_continuum2004_1.jpg|thumb|380px|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple superelastic NiTi components (tubes or beams) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

[[File: Research_continuum2004_2.jpg|thumb|200px|Structure of one continuum segment]]

Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

According to the modeling framework presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005), shape of the continuum segment shown in Figure 2.1 assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

<flvplayer width="320" height="180">A.flv</flvplayer>

Research continuum2004

2010-10-02T05:40:05Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Continuum Structure as Medical Robotic End Effector =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

[[File: Research_continuum2004_1.jpg|thumb|380px|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple superelastic NiTi components (tubes or beams) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

[[File: Research_continuum2004_2.jpg|thumb|200px|Structure of one continuum segment]]

Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

According to the modeling framework presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005), shape of the continuum segment shown in Figure 2.1 assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

<videoflash type="googlevideo">1811233136844420765</videoflash>

Research continuum2004

2010-10-02T05:31:45Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Continuum Structure as Medical Robotic End Effector =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

[[File: Research_continuum2004_1.jpg|thumb|380px|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple superelastic NiTi components (tubes or beams) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

[[File: Research_continuum2004_2.jpg|thumb|200px|Structure of one continuum segment]]

Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

According to the modeling framework presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005), shape of the continuum segment shown in Figure 2.1 assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

<videoflash style="youku">XOTUxODMyMjA</videoflash>

Research continuum2004

2010-10-02T05:09:32Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= A Continuum Structure as Medical Robotic End Effector =
January 2005 to August 2009

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://research.vuse.vanderbilt.edu/arma/ the Advanced Robotics & Mechanism Applications Lab, Department of Mechanical Engineering, Columbia University].

[[File: Research_continuum2004_1.jpg|thumb|380px|Continuum robots involved in this research: (A) a Ø7.5mm one; (B) a Ø4.2mm one; (C) a two-segment continuum robot with a detachable gripper; (D) a three-segment continuum robot with intrinsic force sensing capability]]

This continuum structures in this research were introduced by Simaan et al. (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004). They consist of one or more flexible segments. Each segment consists of multiple superelastic NiTi components (tubes or beams) called backbones and several rigid disks. The figure to the right shows several examples: insets (A) and (B) show a one-segment continuum robot, inset (C) shows a two-segment continuum robot with a detachable gripper and inset (D) shows a three-segment robot with intrinsic force sensing capability.

In these examples, each segment includes one primary backbone, three secondary backbones and a few disks. As the figure below shows, the primary backbone is centrally located and three identical secondary backbones are equidistant from each other and from the primary backbone. The primary backbone is attached to the base disk and the end disk, while the secondary backbones are only attached to the end disk and can slide in appropriately toleranced holes in the base disk and in the spacer disks. Two adjacent disks and the backbones form a subsegment. Each segment possesses two degrees of freedom (DoF) via simultaneous actuation of the three secondary backbones in a push-pull mode. Since three secondary backbones are independently actuated to carry out a 2-DoF motion, these continuum robots feature actuation redundancy.

[[File: Research_continuum2004_2.jpg|thumb|200px|Structure of one continuum segment]]

Multiple segments can be serially stacked through the use of concentric NiTi backbones to form a continuum robot with more DoFs. Three segments of the snake-like continuum robot can be stacked and numbered from the proximal end to the distal end. The end disk of the first segment also acts as the base disk of the second segment, while the end disk of the second segment also serves as the base disk of the third segment. Backbones of the first and second segment are concentric superelastic NiTi tubes, while the third segment’s backbones are superelastic NiTi beams passing through the second segment’s tubes.

According to the modeling framework presented by Simaan (Simaan, Taylor et al. 2004; Simaan, Taylor et al. 2004; Simaan 2005), shape of the continuum segment shown in Figure 2.1 assumes a constant twist distribution. Following the equivalent simplifications below, simplified models for kinematics and statics will be presented.
* Shape of the primary backbone is circular. This approximation have been experimentally verified. Analytic modeling using elliptic integrals shows that in one actuation mode, shape of the primary backbone is strictly circular. In the other actuation mode, shape of the primary backbone is very close to circular.
* Shape of the secondary backbones is circular. This approximation will introduce some experiment-based corrections.
* Load can be re-distributed among the backbones without shape variation. This assumption is introduced in (Simaan 2005) by presenting a general resolution for actuation redundancy. Results from the analytic modeling using elliptic integrals show that the tip position variation is less than 0.05% of the segment’s length (while the tip orientation is kept the same) when loads redistrubited.

Research continuum2004

2010-10-02T04:58:44Z

Roiilab@gmail.com:

File:Research continuum2004 2.jpg

2010-10-02T04:52:26Z

Roiilab@gmail.com:

File:Research continuum2004 1.jpg

2010-10-02T04:29:08Z

Roiilab@gmail.com:

Research

2010-10-02T03:23:10Z

Roiilab@gmail.com:

[[image:note_bulb.png|text-bottom|12px]] Rii lab focuses on transformative robotics research for healthcare practices and service applications, seeking advances in interdisciplinary subjects. With these advances found, Rii lab hopes to make its contributions in reshaping traditional practices in the related fields.
 
[[image:note_bulb.png|text-bottom|12px]] Rii实验室致力于面向医疗卫生和娱乐服务领域的革新性机器人应用研究。希望通过自身不懈努力，能在引领传统医疗和服务行业的产业变革中为提升中国研发的声望尽一份自己的力量。

 
----
====Medical and Healthcare Robotics / 机器人辅助医疗====
[[image:note_bulb.png|text-bottom|12px]] Medical robotics is more than simplely implementing robots in medical practices. It also includes an important part about information management which helps surgeons with preoperative, intraoperative and postoperative information to control a robotic medical or surgical assistant to perform optimized, monitored and precise operations.
 
[[image:note_bulb.png|text-bottom|12px]] 机器人辅助医疗不仅仅是在医疗实践中使用机器人；其很重要的一个部分是信息管理，通过多种手段向医生全面显示术前、术中和术后的种种信息，然后再由医生操控医疗手术机器人，来完成经过优化的、全面监控的和精密准确的治疗步骤。

'''Ongoing and past projects:'''
* [[research_laparoscope2010|A Laparoscopic Robotic Surgical System / 机器人辅助腹腔镜手术系统]]
* An Endoscopic Robotic Surgical System
* A Wearable Exoskeleton for Rehabilitation
* Micro Robots
* [[research_continuum2004|A Continuum Structure as Medical Robotic Endeffector / 机器人辅助手术末端执行器的连续体机构设计]]
* [[research_IREP2007|An Image-Guided In-Vivo Tooling Platform for Minimal Access Surgery / 机器人辅助腹腔镜单创口微创手术系统]]
* [[research_ThroatMIS2004|A Telerobotic System for Minimally Invasive Surgery of the Throat / 机器人辅助喉部微创手术系统]]
 
----
====Service Robotics / 服务业机器人====
[[image:note_bulb.png|text-bottom|12px]] Service and domestic robotics is about having robots help and interact with human in a daily environment, even connecting the internet and smart homes. Revolutions occured and created business giants when every family gets a car or gets a computer, so does Rii lab hope for a robot.
 
[[image:note_bulb.png|text-bottom|12px]] 服务业机器人能在居家环境中帮助人们起居、改善人们生活，甚至能连接物联网和智能房屋来实现更好的服务。历史上，当每个家庭开始拥有汽车、开始拥有电脑的时候，都催化了产业革命、缔造了行业巨擘。Rii实验室相信同样的产业变革也会出现在当每个家庭开始拥有一个机器人的不远的将来。

'''Ongoing and past projects:'''
* Humanoid Robots
* A Mobile Platform using Swedish wheels.
* A Biologically Inspired Robotic Vision System
* [[research_THBIP2000|The THBIP-I Humanoid Robot / THBIP-I型拟人机器人]]

Research continuum2004

2010-10-02T03:22:19Z

Roiilab@gmail.com: Created page with "{{DISPLAYTITLE:{{FULLPAGENAME}}}} = An Image-Guided In-Vivo Tooling Platform for Minimal Access Surgery = September 2007 to August 2009 [[imag..."

Research

2010-10-02T03:21:05Z

Roiilab@gmail.com:

[[image:note_bulb.png|text-bottom|12px]] Rii lab focuses on transformative robotics research for healthcare practices and service applications, seeking advances in interdisciplinary subjects. With these advances found, Rii lab hopes to make its contributions in reshaping traditional practices in the related fields.
 
[[image:note_bulb.png|text-bottom|12px]] Rii实验室致力于面向医疗卫生和娱乐服务领域的革新性机器人应用研究。希望通过自身不懈努力，能在引领传统医疗和服务行业的产业变革中为提升中国研发的声望尽一份自己的力量。

 
----
====Medical and Healthcare Robotics / 机器人辅助医疗====
[[image:note_bulb.png|text-bottom|12px]] Medical robotics is more than simplely implementing robots in medical practices. It also includes an important part about information management which helps surgeons with preoperative, intraoperative and postoperative information to control a robotic medical or surgical assistant to perform optimized, monitored and precise operations.
 
[[image:note_bulb.png|text-bottom|12px]] 机器人辅助医疗不仅仅是在医疗实践中使用机器人；其很重要的一个部分是信息管理，通过多种手段向医生全面显示术前、术中和术后的种种信息，然后再由医生操控医疗手术机器人，来完成经过优化的、全面监控的和精密准确的治疗步骤。

'''Ongoing and past projects:'''
* [[research_laparoscope2010|A Laparoscopic Robotic Surgical System / 机器人辅助腹腔镜手术系统]]
* An Endoscopic Robotic Surgical System
* A Wearable Exoskeleton for Rehabilitation
* Micro Robots
* [[research_continuum2004|A Continuum Structure as Medical Robotic Endeffector / 机器人辅助末端执行器的连续体机构]]
* [[research_IREP2007|An Image-Guided In-Vivo Tooling Platform for Minimal Access Surgery / 机器人辅助腹腔镜单创口微创手术系统]]
* [[research_ThroatMIS2004|A Telerobotic System for Minimally Invasive Surgery of the Throat / 机器人辅助喉部微创手术系统]]
 
----
====Service Robotics / 服务业机器人====
[[image:note_bulb.png|text-bottom|12px]] Service and domestic robotics is about having robots help and interact with human in a daily environment, even connecting the internet and smart homes. Revolutions occured and created business giants when every family gets a car or gets a computer, so does Rii lab hope for a robot.
 
[[image:note_bulb.png|text-bottom|12px]] 服务业机器人能在居家环境中帮助人们起居、改善人们生活，甚至能连接物联网和智能房屋来实现更好的服务。历史上，当每个家庭开始拥有汽车、开始拥有电脑的时候，都催化了产业革命、缔造了行业巨擘。Rii实验室相信同样的产业变革也会出现在当每个家庭开始拥有一个机器人的不远的将来。

'''Ongoing and past projects:'''
* Humanoid Robots
* A Mobile Platform using Swedish wheels.
* A Biologically Inspired Robotic Vision System
* [[research_THBIP2000|The THBIP-I Humanoid Robot / THBIP-I型拟人机器人]]

Research IREP2007

2010-10-02T03:05:15Z

File:Research IREP2007 2.jpg

2010-10-02T02:40:42Z

Roiilab@gmail.com:

File:Research IREP2007 1.jpg

2010-10-02T02:39:32Z

Roiilab@gmail.com:

Research

2010-10-02T02:38:11Z

Roiilab@gmail.com:

[[image:note_bulb.png|text-bottom|12px]] Rii lab focuses on transformative robotics research for healthcare practices and service applications, seeking advances in interdisciplinary subjects. With these advances found, Rii lab hopes to make its contributions in reshaping traditional practices in the related fields.
 
[[image:note_bulb.png|text-bottom|12px]] Rii实验室致力于面向医疗卫生和娱乐服务领域的革新性机器人应用研究。希望通过自身不懈努力，能在引领传统医疗和服务行业的产业变革中为提升中国研发的声望尽一份自己的力量。

 
----
====Medical and Healthcare Robotics / 机器人辅助医疗====
[[image:note_bulb.png|text-bottom|12px]] Medical robotics is more than simplely implementing robots in medical practices. It also includes an important part about information management which helps surgeons with preoperative, intraoperative and postoperative information to control a robotic medical or surgical assistant to perform optimized, monitored and precise operations.
 
[[image:note_bulb.png|text-bottom|12px]] 机器人辅助医疗不仅仅是在医疗实践中使用机器人；其很重要的一个部分是信息管理，通过多种手段向医生全面显示术前、术中和术后的种种信息，然后再由医生操控医疗手术机器人，来完成经过优化的、全面监控的和精密准确的治疗步骤。

'''Ongoing and past projects:'''
* [[research_laparoscope2010|A Laparoscopic Robotic Surgical System / 机器人辅助腹腔镜手术系统]]
* An Endoscopic Robotic Surgical System
* A Wearable Exoskeleton for Rehabilitation
* Micro Robots
* [[research_IREP2007|An Image-Guided In-Vivo Tooling Platform for Minimal Access Surgery / 机器人辅助腹腔镜单创口微创手术系统]]
* [[research_ThroatMIS2004|A Telerobotic System for Minimally Invasive Surgery of the Throat / 机器人辅助喉部微创手术系统]]
 
----
====Service Robotics / 服务业机器人====
[[image:note_bulb.png|text-bottom|12px]] Service and domestic robotics is about having robots help and interact with human in a daily environment, even connecting the internet and smart homes. Revolutions occured and created business giants when every family gets a car or gets a computer, so does Rii lab hope for a robot.
 
[[image:note_bulb.png|text-bottom|12px]] 服务业机器人能在居家环境中帮助人们起居、改善人们生活，甚至能连接物联网和智能房屋来实现更好的服务。历史上，当每个家庭开始拥有汽车、开始拥有电脑的时候，都催化了产业革命、缔造了行业巨擘。Rii实验室相信同样的产业变革也会出现在当每个家庭开始拥有一个机器人的不远的将来。

'''Ongoing and past projects:'''
* Humanoid Robots
* A Mobile Platform using Swedish wheels.
* A Biologically Inspired Robotic Vision System
* [[research_THBIP2000|The THBIP-I Humanoid Robot / THBIP-I型拟人机器人]]

Research ThroatMIS2004

2010-10-02T02:36:03Z

Roiilab@gmail.com: Created page with "{{DISPLAYTITLE:{{FULLPAGENAME}}}} = A Telerobotic System for Minimally Invasive Surgery of the Throat = January 2005 to August 2009 [[image:no..."

File:Research ThroatMIS2004 2.jpg

2010-10-02T02:09:31Z

Roiilab@gmail.com:

File:Research ThroatMIS2004 1.jpg

2010-10-02T02:08:16Z

Roiilab@gmail.com:

Research THBIP2000

2010-10-02T01:32:53Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= Gait Generation and System Integration for the THBIP-I Humanoid Robot =
August 2000 to September 2003

[[image:note_bulb.png|text-bottom|12px]] This work was done when Dr. Kai Xu was with [http://ime.pim.tsinghua.edu.cn/research/research33.html the Robotics & Automation Lab, Department of Precision Instrument and Mechanology, Tsinghua University]

[[image:Research_THBIP2000.jpg‎|border]]

That was a China’s systematic effect developping humanoid technology. The THBIP-I robot had 27 independent DOF with a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems. It was able to conduct autonomous walking using its on-board battery and manipulate small objects.

Dr. Xu was involved in mechanism design, gait generation algorithms, kinematics modeling, dynamics and vibration modeling, experimental validation, formulating real-time gesture compensation, task planning designed, etc. He also served as a coordinator, organzing meetings, experiments, progress documentation, etc.

Research THBIP2000

2010-10-02T00:44:23Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

= Gait Generation and System Integration for the THBIP-I Humanoid Robot =
August 2000 to September 2003

[[image:Research_THBIP2000.jpg‎|frame]]

Significance:
That was China’s first systematic effect catching up with Japan’s humanoid technology. The THBIP-I robot had 27 independent DOF. It had a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems and was able to conduct autonomous walking using its on-board battery and manipulate small objects.

My contribution:
I was assigned to mechanism designs when I joined the project as a senior undergraduate student. I was promoted to the project manager at the end of this 3-year project, coordinating nine graduate students, two postdoctoral fellows and four professors from three departments in Tsinghua University. I developed gait generation algorithms, derived kinematics and dynamics of the system, led experiments and meetings, formulated real-time gesture compensation, interfaced with vision tracking and task planning designed by other two departments, and compiled the final report.

Research THBIP2000

2010-10-01T14:27:50Z

Roiilab@gmail.com: Created page with "{{DISPLAYTITLE:{{FULLPAGENAME}}}} Gait design and system integration for the Humanoid Robot Research August 2000 to September 2003 [[image:Res..."

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

Gait design and system integration for the Humanoid Robot Research
August 2000 to September 2003

[[image:Research_THBIP2000.jpg‎|frame]]

Significance:
That was China’s first systematic effect catching up with Japan’s humanoid technology. The THBIP-I robot had 27 independent DOF. It had a real-time distributed hierarchical control structure coordinating with the servo control, gait generation, gesture sensing, vision tracking and task planning subsystems and was able to conduct autonomous walking using its on-board battery and manipulate small objects.

My contribution:
I was assigned to mechanism designs when I joined the project as a senior undergraduate student. I was promoted to the project manager at the end of this 3-year project, coordinating nine graduate students, two postdoctoral fellows and four professors from three departments in Tsinghua University. I developed gait generation algorithms, derived kinematics and dynamics of the system, led experiments and meetings, formulated real-time gesture compensation, interfaced with vision tracking and task planning designed by other two departments, and compiled the final report.

Research

2010-10-01T14:24:56Z

Roiilab@gmail.com:

[[image:note_bulb.png|text-bottom|12px]] Rii lab focuses on transformative robotics research for healthcare practices and service applications, seeking advances in interdisciplinary subjects. With these advances found, Rii lab hopes to make its contributions in reshaping traditional practices in the related fields.
 
[[image:note_bulb.png|text-bottom|12px]] Rii实验室致力于面向医疗卫生和娱乐服务领域的革新性机器人应用研究。希望通过自身不懈努力，能在引领传统医疗和服务行业的产业变革中为提升中国研发的声望尽一份自己的力量。

 
----
====Medical and Healthcare Robotics / 机器人辅助医疗====
[[image:note_bulb.png|text-bottom|12px]] Medical robotics is more than simplely implementing robots in medical practices. It also includes an important part about information management which helps surgeons with preoperative, intraoperative and postoperative information to control a robotic medical or surgical assistant to perform optimized, monitored and precise operations.
 
[[image:note_bulb.png|text-bottom|12px]] 机器人辅助医疗不仅仅是在医疗实践中使用机器人；其很重要的一个部分是信息管理，通过多种手段向医生全面显示术前、术中和术后的种种信息，然后再由医生操控医疗手术机器人，来完成经过优化的、全面监控的和精密准确的治疗步骤。

'''Ongoing and past projects:'''
* [[research_laparoscope2010|A Laparoscopic Robotic Surgical System / 机器人辅助腹腔镜手术系统]]
* An Endoscopic Robotic Surgical System
* A Wearable Exoskeleton for Rehabilitation
* Micro Robots
* [[research_IREP2007|An Image-Guided In-Vivo Tooling Platform for Minimal Access Surgery / 机器人辅助腹腔镜单创口微创手术系统]]
* [[research_ThroatMIS2004|A Telerobotic System for Minimally Invasive Surgery of the Throat and Upper Airways / 机器人辅助喉部和上呼吸道微创手术系统]]
 
----
====Service Robotics / 服务业机器人====
[[image:note_bulb.png|text-bottom|12px]] Service and domestic robotics is about having robots help and interact with human in a daily environment, even connecting the internet and smart homes. Revolutions occured and created business giants when every family gets a car or gets a computer, so does Rii lab hope for a robot.
 
[[image:note_bulb.png|text-bottom|12px]] 服务业机器人能在居家环境中帮助人们起居、改善人们生活，甚至能连接物联网和智能房屋来实现更好的服务。历史上，当每个家庭开始拥有汽车、开始拥有电脑的时候，都催化了产业革命、缔造了行业巨擘。Rii实验室相信同样的产业变革也会出现在当每个家庭开始拥有一个机器人的不远的将来。

'''Ongoing and past projects:'''
* Humanoid Robots
* A Mobile Platform using Swedish wheels.
* A Biologically Inspired Robotic Vision System
* [[research_THBIP2000|The THBIP-I Humanoid Robot / THBIP-I型拟人机器人]]

File:Research THBIP2000.jpg

2010-10-01T14:17:02Z

Roiilab@gmail.com:

Openings postdoc

2010-09-29T08:00:49Z

Roiilab@gmail.com:

{{DISPLAYTITLE:{{FULLPAGENAME}}}}

==Immediate Openings for Two Postdoctoral Researchers==

Two postdoctoral positions are available at the Laboratory of Robotic Innovation and Intervention (Rii Lab) at the University of Michigan - Shanghai Jiao Tong University Joint Institute, under a joint supervision of Profs. Kai Xu (UM-SJTU Joint Institute) and Albert J. Shih (UM). The successful candidates will be mainly based at the Rii lab in Shanghai and spend some of the time at University of Michigan. The positions are available immediately for 2 years with the option to extend depending on performance.

The successful candidates will join an interdisciplinary team to develop a multifunctional endoscopic device and a laparoscopic robotic device for surgical applications. Important aspects of the problems include designing actuation and mechanisms, developing kinematics/elastics/statics models for control, developing calibration and compensation algorithms for prototypes, preparing animal studies, etc.

'''Qualifications:'''
* PhD in Mechanical Engineering, Electrical Engineering or a field related to robotics
* Strong theoretical background
* Excellent communication skills and work ethic
* Experience with mechanism design
* Knowledge about kinematics modeling
* Experience with deploying medical robot systems is a plus

The positions are available immediately. The review of applications starts when applications are received and will continue until the positions are filled.

'''Application Package:''' 
Please send the following in a single pdf file addressed to k.xu@sjtu.edu.cn 
Please put “Rii Lab Postdoc Application” in the subject line.
* A cover letter with summary of research experience, future interests and available start date
* CV
* Dissertation title and abstract
* Names of at least three references
* Al least one representative paper

 
'''Compensation is based on the candidates' qualification and can be negotiated.'''

For more information about UM-SJTU Joint Institute, please visit: http://umji.sjtu.edu.cn 
For more information about Rii Lab, please visit: http://rii.sjtu.edu.cn

========================================================
Kai Xu 
Assistant Professor 
UM-SJTU Joint Institute 
Shanghai Jiao Tong University

徐凯 
助理教授，博士生导师 
上海市闵行区东川路800号 
上海交通大学密西根学院

Email: k.xu@sjtu.edu.cn 
Webpage: http://rii.sjtu.edu.cn/
========================================================

Publications

2010-09-29T07:10:14Z

Roiilab@gmail.com:

===Journal Publications===

# 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
# '''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 [[media:TRO2010.Xu.pdf|[FULLTEXT]]]
# '''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 [[media:JMR2010.Xu.pdf|[FULLTEXT]]]
# 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 [[media:IJRR2009.Simaan.pdf|[FULLTEXT]]]
# '''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 [[media:TRO2008.Xu.pdf|[FULLTEXT]]]
# '''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)
# '''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)
# 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)
# 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)
# 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)
# 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)
# 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====

# 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 [[media:ICRA2010.Ding.pdf|[FULLTEXT]]]
# '''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 [[media:IROS2009.Xu.pdf|[FULLTEXT]]]
# 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) [[media:MICCAI2006.Zhang.pdf|[FULLTEXT]]]
# 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
# '''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 [[media:ICRA2006.Xu.pdf|[FULLTEXT]]]
# 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
# 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
# '''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====

# 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.
# 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.
# 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
# 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
# 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
# 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.

Publications

2010-09-29T03:51:13Z

Roiilab@gmail.com:

===Journal Publications===

# 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
# '''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 [[media:TRO2010.Xu.pdf|[FULLTEXT]]]
# '''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 [[media:JMR2010.Xu.pdf|[FULLTEXT]]]
# 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 [[media:IJRR2009.Simaan.pdf|[FULLTEXT]]]
# '''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 [[media:TRO2008.Xu.pdf|[FULLTEXT]]]
# '''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)
# '''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)
# 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)
# 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)
# 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)
# 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)
# 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====

# 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 [[media:ICRA2010.Ding.pdf|[FULLTEXT]]]
# '''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 [[media:IROS2009.Xu.pdf|[FULLTEXT]]]
# 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) [[media:MICCAI2006.Zhang.pdf|[FULLTEXT]]]
# 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
# '''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 [[media:ICRA2006.Xu.pdf|[FULLTEXT]]]
# 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
# 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
# '''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====

# 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.
# 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.
# 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
# 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
# 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
# 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

File:MICCAI2006.Zhang.pdf

2010-09-29T03:48:42Z

Roiilab@gmail.com:

File:ICRA2010.Ding.pdf

2010-09-29T03:48:17Z

Roiilab@gmail.com:

File:ICRA2006.Xu.pdf

2010-09-29T03:47:47Z

Roiilab@gmail.com:

File:IROS2009.Xu.pdf

2010-09-29T03:44:19Z

Roiilab@gmail.com:

Publications

2010-09-29T03:42:55Z

Roiilab@gmail.com:

===Journal Publications===

# 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
# '''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 [[media:TRO2010.Xu.pdf|[FULLTEXT]]]
# '''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 [[media:JMR2010.Xu.pdf|[FULLTEXT]]]
# 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 [[media:IJRR2009.Simaan.pdf|[FULLTEXT]]]
# '''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 [[media:TRO2008.Xu.pdf|[FULLTEXT]]]
# '''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)
# '''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)
# 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)
# 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)
# 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)
# 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)
# 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====

# 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.
# '''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
# 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)
# 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
# '''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
# 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
# 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
# '''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====

# 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.
# 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.
# 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
# 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
# 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
# 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

File:TRO2008.Xu.pdf

2010-09-29T03:34:42Z

Roiilab@gmail.com:

File:IJRR2009.Simaan.pdf

2010-09-29T03:33:51Z

Roiilab@gmail.com:

File:TRO2010.Xu.pdf

2010-09-29T03:33:35Z

Roiilab@gmail.com: