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 ...

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...

The UMASS uBot-4 is a two wheeled, dynamically stable, bimanual mobile manipulator. It is a compact, safe, and cost effective platform with many features such as whole body postural control, force sensing actuators, two 4-DOF arms, and a small footprint. It is the latest in a series of small mobile robots that originated with the uBot-0.5 (ca. 1997). This paper presents the motivations for the ...

Two-wheeled balancing robots based on inverted pendulum configuration which relies upon dynamic balancing systems for balancing and maneuvering. The idea of a mobile inverted pendulum robot has focused in recent years and has attracted interest from control system researchers worldwide, research on a two-wheel inverted pendulum, which commonly known as the self-balancing robot. In this, the DC ...