Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon’s ability to directly view and touch the surgical environment. These limitations generally restrict the application of laparoscopy to less complex procedures. Large robots external to the patient have been used to aid in ...

During the years 2005 and 2006 a robot system has been developed at Lund University Cognitive Science to run navigation experiments in a dynamic environment. The main aim of the system is to study anticipation during navigation, model building, color tracking, navigation algorithms, social robotics and children’s games. This technical report describes the hardware and software used in the syste...

Performing autonomous navigation in cluttered and unstructured terrains still remains a challenging task for legged wheeled mobile robots. To accomplish such task, online planners shall incorporate new terrain information perceived while the robot is moving within its environment. While hybrid mobility robots offer high flexibility traversing by leveraging advantages of both locomotion, effecti...

Mobile manipulators have been given extensive attention in recent years since they have many applications such as materials transport and service for disabled persons. A mobile modular manipulator is normally composed of an m-wheeled mobile platform and an n-degree-of-freedom (DOF) onboard modular manipulator. This combination extends the workspace of the entire robot dramatically. Building up ...

This paper presents a new motion planning algorithm for wheeled mobile robots in presence of known static obstacles, especially well-suited for high velocity situations. It takes into account several conditions traditionally attached to smooth path planning, i.e. paths with continuous derivative and upper-bounded curvature. It makes use of a global path planner which exploits polynomial G curve...