Autonomous Manipulation

J. Wu, M. Muddassir, Q. Li, P. Zhou, and D. Navarro-Alarcon. A Hierarchical Laser Control Strategy for Spatially Uniform Thermal Dose Delivery in Laser-Induced Thermal Therapy. (preprint) [pdf]

H.-Y. Lee, P. Zhou, A. Duan, W. Ma, C. Yang and D. Navarro-Alarcon. Non-Prehensile Tool-Object Manipulation by Integrating LLM-Based Planning and Manoeuvrability-Driven Controls. (preprint). [pdf]

A. Duan, W. Liuchen, J. Wu, R. Camoriano, L. Rosasco, and D. Navarro-Alarcon. Learning Rhythmic Trajectories with Geometric Constraints for Laser-Based Skincare Procedures. IEEE Transactions on Robotics (T-RO) (cond. accepted), 2024 [pdf]

A. Duan, C. Yang, J. Zhao, S. Huo, P. Zhou, W. Ma, Y. Zheng and D. Navarro-Alarcon. Safe Learning by Constraint-Aware Policy Optimization for Robotic Ultrasound Imaging. IEEE Transactions on Automation Science and Engineering (T-ASE), (in press), 2024 [pdf]

S. Huo, D.T.W. Chik and D. Navarro-Alarcon. A Robotic Defect Inspection System for FreeForm Specular Surfaces. IEEE Int. Conf. Robotics and Automation (ICRA), pp. 11364–11370, 2021 [pdf]

R. Peng, D. Navarro-Alarcon, V. Wu, and W. Yang. A Point Cloud Based Method for Automatic Groove Detection and Trajectory Planning of Robotic Arc Welding Tasks. IEEE Int. Conf. on Ubiquitous Robotics (UR), pp. 1–8, 2020. [pdf]

M. Victorova, D. Navarro-Alarcon and Y.-P. Zheng. 3D Ultrasound Imaging of Scoliosis with Force Sensitive Robotic Scanning. Int. Conf. Robotic Computing (IRC), pp. 262–265, 2019. [pdf]

P. Zhou, P. Zheng, J. Qi, C. Li, H.-Y. Lee, A. Duan, L. Lu, Z. Li, L. Hu, D. Navarro-Alarcon. Reactive Human-Robot Collaborative Manipulation of Deformable Linear Objects Using a New Topological Latent Control Model. Robotics and Computer-Integrated Manufacturing (RCIM), vol. 88, pp. 102727, 2024 [pdf]

A. Duan, S. Huo, H.-Y. Lee, P. Zhou, J. G. Romero, C. Yang and D. Navarro-Alarcon. Robust Grasping by Bimanual Robots with Stable Parametrization-Based Contact Servoing. IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 29, no. 5, pp. 3924-3935, 2024 [pdf]

P. Zhou, J. Qi, A. Duan, S. Huo, Z. Wu and D. Navarro-Alarcon. Imitating Tool-based Garment Folding from a Single Visual Observation Using Hand-Object Graph Dynamics. IEEE Transactions on Industrial Informatics (T-II), vol. 20, no. 4, pp. 6245-6256, 2024 [pdf]

F. Wang, A, Duan, P. Zhou, S. Huo, G. Guo, C. Yang, and D. Navarro-Alarcon. Explicit-Implicit Subgoal Planning for Long-Horizon Tasks with Sparse Reward. (preprint) [pdf]

H. Chen, S. Huo, M. Muddassir, H.-Y. Lee, A. Duan, P. Zheng, H. Pan, D. Navarro-Alarcon. PSO-Based Optimal Coverage Path Planning for Surface Defect Inspection of 3C Components with a Robotic Line Scanner. (preprint) [pdf]

S. Huo, A. Duan, L. Han, L. Hu, H. Wang and D. Navarro-Alarcon. Efficient Robot Skill Learning with Imitation from a Single Video for Contact-Rich Fabric Manipulation. (preprint) [pdf]

P. Zhou, P. Zheng, J. Qi, C. Li, A. Duan, M. Xu, V. Wu, and D. Navarro-Alarcon. Neural Reactive Path Planning with Riemannian Motion Policies for Robotic Silicone Sealing. Robotics and Computer-Integrated Manufacturing, vol. 81, pp. 102518, 2023 [pdf]

M. Muddassir, G. Limbert, B. Zhang, A. Duan, J.-J. Tan and D. Navarro-Alarcon. Model Predictive Thermal Dose Control of a Robotic Laser System to Automate Skin Photorejuvenation, IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 27., no. 2, pp. 666 - 677, 2022. [pdf]

M. Victorova, H. Lau, T. Lee, D. Navarro-Alarcon and Y. Zheng. Reliability of Robotic Ultrasound Scanning for Scoliosis Assessment in Comparison with Manual Scanning. International Journal of Medical Robotics and Computer-Assisted Surgery (IJMRCAS), e2468, 2022. [pdf]

A. Duan, M. Victorova, J. Zhao, Y. Sun, Y. Zheng and D. Navarro-Alarcon. Ultrasound-Guided Assistive Robots for Scoliosis Assessment with Optimization-based Control and Variable Impedance, IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 3, pp. 8106-8113, 2022. [pdf]

L. Hu, D. Navarro-Alarcon, A. Cherubini, M. Li and L. Li. On Radiation-Based Thermal Servoing: New Models, Controls and Experiments, IEEE Transactions on Robotics (T-RO), vol. 38, no. 3, pp. 1945-1958, 2022. [pdf]

O. Zahra, S. Tolu, P. Zhou, A. Duan and D. Navarro-Alarcon. A Bio-Inspired Mechanism for Learning Robot Motion From Mirrored Human Demonstrations, Front. Neurorobotics, vol. 16, 2022. [pdf]

M. Muddassir, D. Gomez Dominguez, S. Chen, L. Hu and D. Navarro-Alarcon. Robotics Meets Cosmetic Dermatology: Development of a Novel Vision-Guided System for Skin Photo-Rejuvenation, IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 27, no. 2, pp. 666-677, 2022. [pdf]

S. Huo, B. Zhang, M. Muddassir, D.T.W. Chik and D. Navarro-Alarcon. A Sensor-Based Robotic Line Scan System with Adaptive ROI for Inspection of Defects over Convex Free-form Specular Surfaces, IEEE Sensors Journal, vol. 22, no. 3, pp. 2782-2792, 2022. [pdf]

O. Zahra, D. Navarro-Alarcon and S. Tolu. Vision-Based Control for Robots by a Fully Spiking Neural System Relying on Cerebellar Predictive Learning, IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 4423–4429, 2021. [pdf]

O. Zahra, S. Tolu and D. Navarro-Alarcon. Differential Mapping Spiking Neural Network for Sensor-Based Robot Control, Bioinspiration & Biomimetics, vol. 16, no. 3, pp. 036008 2021. [pdf]

A. Cherubini and D. Navarro-Alarcon. Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges and Opportunities, Frontiers in Neurorobotics, vol. 14, pp. 113, 2021. [pdf]

P. Zhou, R. Peng, M. Xu, V. Wu and D. Navarro-Alarcon. Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 3, pp. 5002–5009, 2021. [pdf]

M. Muddassir, S. Chan, D. Gomez and D. Navarro-Alarcon. Can, Can a Robot Outperform a Human Operator in Skin Photorejuvenation? Cosmet Dermatol. 2021; 00: 1– 2. [pdf]

O. Zahra, D. Navarro-Alarcon, and S. Tolu. A Neurorobotic Embodiment for Exploring the Dynamical Interactions of a Spiking Cerebellar Model and a Robot Arm During Vision-based Manipulation Tasks. International Journal of Neural Systems (IJNS), vol. 32, no. 08, pp. 2150028, 2021. [pdf]

M. Tirindelli, M. Victorova, J. Esteban, S. T. Kim, D. Navarro-Alarcon, Y. P. Zheng and N. Navab. Force-Ultrasound Fusion: Bringing Spine Robotic-US to the Next "Level", IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4, pp. 5661–5668, 2020. [pdf]

O. Zahra and D. Navarro-Alarcon. A Self-Organizing Network with Varying Density Structure for Characterizing Sensorimotor Transformations in Robotic Systems. Towards Autonomous Robotic Systems Conference (TAROS), pp. 1–12, 2019. [pdf]

D. Navarro-Alarcon, S. Saini, T. Zhang, H. Chung, K. W. Ng, M. K. Chow, Y.-H. Liu Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments. IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 3, 1648–1655, 2017. [pdf]

H.M. Yip, P. Li, D. Navarro-Alarcon, and Y.-H. Liu. Towards Developing a Robot Assistant for Uterus Positioning During Hysterectomy: System Design and Experiments. Journal of Robotics and Biomimetics, vol. 1, no. 1, pp. 1–11, 2015. [pdf]

J.Y.K. Chan, I. Leung, D. Navarro-Alarcon, W. Lin, P. Li, D.L.Y. Lee, Y.-H. Liu, and M.C.F. Tong. Foot-Controlled Robotic-Enabled Endoscope Holder for Endoscopic Sinus Surgery: A Cadaveric Feasibility Study. The Laryngoscope, issn 1531–4995, 2015. [pdf]

D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Energy Shaping Methods for Asymptotic Force Regulation of Compliant Mechanical Systems. IEEE Transactions on Control Systems Technology (T-CST), vol. 22, no. 6, pp. 2376–2383, 2014. [pdf]