How to model tendon-driven continuum robots and benchmark modelling performance P Rao, Q Peyron, S Lilge, J Burgner-Kahrs Frontiers in Robotics and AI 7, 630245, 2021 | 116 | 2021 |
Comparison of modeling approaches for a tendon actuated continuum robot with three extensible segments MT Chikhaoui, S Lilge, S Kleinschmidt, J Burgner-Kahrs IEEE Robotics and Automation Letters 4 (2), 989-996, 2019 | 76 | 2019 |
Design of a reconfigurable parallel continuum robot with tendon-actuated kinematic chains G Böttcher, S Lilge, J Burgner-Kahrs IEEE Robotics and Automation Letters 6 (2), 1272-1279, 2021 | 33 | 2021 |
Modeling, calibration, and evaluation of a tendon-actuated planar parallel continuum robot K Nuelle, T Sterneck, S Lilge, D Xiong, J Burgner-Kahrs, T Ortmaier IEEE Robotics and Automation Letters 5 (4), 5811-5818, 2020 | 33 | 2020 |
Estimating tip contact forces for concentric tube continuum robots based on backbone deflection H Donat, S Lilge, J Burgner-Kahrs, JJ Steil IEEE Transactions on Medical Robotics and Bionics 2 (4), 619-630, 2020 | 28 | 2020 |
Tendon actuated continuous structures in planar parallel robots: A kinematic analysis S Lilge, K Nuelle, G Boettcher, S Spindeldreier, J Burgner-Kahrs Journal of Mechanisms and Robotics 13 (1), 011025, 2021 | 23 | 2021 |
Continuum robot state estimation using Gaussian process regression on SE(3) S Lilge, TD Barfoot, J Burgner-Kahrs The International Journal of Robotics Research, 02783649221128843, 2022 | 18 | 2022 |
Kinetostatic modeling of tendon-driven parallel continuum robots S Lilge, J Burgner-Kahrs IEEE Transactions on Robotics 39 (2), 1563-1579, 2022 | 14 | 2022 |
Learning-based inverse kinematics from shape as input for concentric tube continuum robots N Liang, RM Grassmann, S Lilge, J Burgner-Kahrs 2021 IEEE International Conference on Robotics and Automation (ICRA), 1387-1393, 2021 | 12 | 2021 |
Ctcr prototype development: An obstacle in the research community? RM Grassmann, S Lilge, P Le, J Burgner-Kahrs Robotics Retrospectives-Workshop at RSS 2020, 2020 | 8 | 2020 |
Auditory display for telerobotic transnasal surgery using a continuum robot D Black, S Lilge, C Fellmann, AV Reinschluessel, L Kreuer, A Nabavi, ... Journal of Medical Robotics Research 4 (02), 1950004, 2019 | 5 | 2019 |
Cooperative control of dual-arm concentric tube continuum robots HJ Zhang, S Lilge, MT Chikhaoui, J Burgner-Kahrs 2022 International Conference on Manipulation, Automation and Robotics at …, 2022 | 3 | 2022 |
Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links S Lilge, K Wen, J Burgner-Kahrs Frontiers in Robotics and AI 9, 1082185, 2023 | 2 | 2023 |
Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern L Kreuer, S Lilge, J Burgner-Kahrs 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter …, 2017 | 2 | 2017 |
FoMo: A Proposal for a Multi-Season Dataset for Robot Navigation in For\^ et Montmorency M Boxan, A Krawciw, E Daum, X Qiao, S Lilge, TD Barfoot, F Pomerleau arXiv preprint arXiv:2404.13166, 2024 | | 2024 |
LaserSAM: Zero-Shot Change Detection Using Visual Segmentation of Spinning LiDAR A Krawciw, S Lilge, TD Barfoot arXiv preprint arXiv:2402.10321, 2024 | | 2024 |
State Estimation for Continuum Multi-Robot Systems on SE (3) S Lilge, TD Barfoot, J Burgner-Kahrs arXiv preprint arXiv:2401.13540, 2024 | | 2024 |
Tendon-Driven Parallel Continuum Robots: Modeling, Characterization and State Estimation S Lilge University of Toronto (Canada), 2023 | | 2023 |
Comparison of Haptic and Auditory Feedback Methods for the Teleoperation of Concentric Tube Continuum Robots S Lilge, D Black, A Nabavi, J Burgner-Kahrs 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboter …, 2018 | | 2018 |