{"id":"https://openalex.org/W1988707210","doi":"https://doi.org/10.1109/coase.2014.6899377","title":"Learning accurate kinematic control of cable-driven surgical robots using data cleaning and Gaussian Process Regression","display_name":"Learning accurate kinematic control of cable-driven surgical robots using data cleaning and Gaussian Process Regression","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W1988707210","doi":"https://doi.org/10.1109/coase.2014.6899377","mag":"1988707210"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2014.6899377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020901032","display_name":"Jeffrey Mahler","orcid":"https://orcid.org/0000-0003-3204-3024"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jeffrey Mahler","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018480426","display_name":"Sanjay Krishnan","orcid":"https://orcid.org/0000-0001-6968-4090"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sanjay Krishnan","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052716347","display_name":"Michael Laskey","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Laskey","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048540485","display_name":"Siddarth Sen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Siddarth Sen","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114179160","display_name":"Adithyavairavan Murali","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adithyavairavan Murali","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035093432","display_name":"Ben Kehoe","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ben Kehoe","raw_affiliation_strings":["Department of Mechanical Engineering, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037296168","display_name":"Sachin Patil","orcid":"https://orcid.org/0000-0002-5162-269X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sachin Patil","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066141913","display_name":"Jiannan Wang","orcid":"https://orcid.org/0000-0003-3312-6833"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiannan Wang","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110182358","display_name":"Mike Franklin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mike Franklin","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010019244","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0001-6747-9499"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["Department of Industrial Engineering and Operations Research, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":11,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.8094,"has_fulltext":false,"cited_by_count":76,"citation_normalized_percentile":{"value":0.95110826,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"532","last_page":"539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12386","display_name":"Advanced X-ray and CT Imaging","score":0.9542999863624573,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12386","display_name":"Advanced X-ray and CT Imaging","score":0.9542999863624573,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13690","display_name":"Quality and Safety in Healthcare","score":0.9510999917984009,"subfield":{"id":"https://openalex.org/subfields/3607","display_name":"Medical Laboratory Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T13280","display_name":"Biomedical and Engineering Education","score":0.9502000212669373,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.57649165391922},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5433654189109802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5075570344924927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4426652193069458},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44091707468032837},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.43811318278312683},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.4220842123031616},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.41996362805366516},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4171082377433777},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.366830050945282},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34943169355392456},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3408086597919464},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1910105049610138}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.57649165391922},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5433654189109802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5075570344924927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4426652193069458},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44091707468032837},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.43811318278312683},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.4220842123031616},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.41996362805366516},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4171082377433777},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.366830050945282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34943169355392456},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3408086597919464},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1910105049610138},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/coase.2014.6899377","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899377","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.434.1886","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.434.1886","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.berkeley.edu/~pabbeel/papers/2014-CASE-accurate-kinematics.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W177540543","https://openalex.org/W1510371973","https://openalex.org/W1530718350","https://openalex.org/W1746819321","https://openalex.org/W1963716360","https://openalex.org/W1975184797","https://openalex.org/W1992989752","https://openalex.org/W2014694653","https://openalex.org/W2030414913","https://openalex.org/W2033819227","https://openalex.org/W2046799983","https://openalex.org/W2057491769","https://openalex.org/W2070519752","https://openalex.org/W2078491101","https://openalex.org/W2079716332","https://openalex.org/W2085261163","https://openalex.org/W2088392499","https://openalex.org/W2105945651","https://openalex.org/W2107386393","https://openalex.org/W2108587916","https://openalex.org/W2110761225","https://openalex.org/W2120320989","https://openalex.org/W2132203209","https://openalex.org/W2132320458","https://openalex.org/W2134469667","https://openalex.org/W2137606563","https://openalex.org/W2142732106","https://openalex.org/W2152263389","https://openalex.org/W2161024951","https://openalex.org/W2166063021","https://openalex.org/W2168104347","https://openalex.org/W2189050031","https://openalex.org/W2293883387","https://openalex.org/W4211049957","https://openalex.org/W4250730422","https://openalex.org/W6607222695","https://openalex.org/W6631546570","https://openalex.org/W6657823353","https://openalex.org/W6675823452","https://openalex.org/W6683364270","https://openalex.org/W6684451488","https://openalex.org/W6684742562","https://openalex.org/W6687344527","https://openalex.org/W6697150650"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W3047523153","https://openalex.org/W4226342200"],"abstract_inverted_index":{"Abstract":[0],"\u2014":[1],"Precise":[2],"control":[3,74],"of":[4,48,64,135,144,161,195,210,238,252,269,290],"industrial":[5],"automation":[6,51],"systems":[7,25],"with":[8,34],"non-linear":[9,129,166],"kinematics":[10],"due":[11,147],"to":[12,68,71,142,148,163,224,246,260,278],"joint":[13],"elasticity,":[14],"variation":[15],"in":[16,24,86,103,131,179,235],"cable":[17],"tensioning,":[18],"or":[19,151],"backlash":[20],"is":[21,121,140,232,305],"challenging;":[22],"especially":[23],"that":[26,77,98,107,125],"can":[27,126],"only":[28],"be":[29],"controlled":[30],"through":[31],"an":[32,35,50],"interface":[33,75],"imprecise":[36],"internal":[37,115],"kinematic":[38,105],"model.":[39,116],"Cable-driven":[40],"Robotic":[41],"Surgical":[42,205],"Assistants":[43],"(RSAs)":[44],"are":[45,55,108],"one":[46],"example":[47],"such":[49,76],"system,":[52],"as":[53,176],"they":[54],"designed":[56],"for":[57,100,111,168,266],"master-slave":[58],"teleoperation.":[59],"We":[60,197,272],"consider":[61],"the":[62,72,79,83,101,104,113,159,180,193,202,208,218,226,236,239,250,253,275,288],"problem":[63],"learning":[65],"a":[66,87,96,122,132,165,177,233,267,280],"function":[67],"modify":[69],"commands":[70,265],"inaccurate":[73],"executing":[78],"modified":[80],"command":[81],"on":[82,189,201,207,287,296],"system":[84,223],"results":[85,286],"desired":[88],"state.":[89],"To":[90],"achieve":[91,279],"this,":[92],"we":[93,157],"must":[94],"learn":[95,164],"mapping":[97,277],"accounts":[99],"non-linearities":[102],"chain":[106],"not":[109],"accounted":[110],"by":[112,172],"system\u2019s":[114],"Gaussian":[117],"Process":[118],"Regression":[119],"(GPR)":[120],"data-driven":[123],"technique":[124],"estimate":[127],"this":[128,155,199,297],"correction":[130,167],"task-specific":[133],"region":[134],"state":[136],"space,":[137],"but":[138],"it":[139],"sensitive":[141],"corruption":[143],"training":[145,186],"examples":[146],"partial":[149],"occlusion":[150],"lighting":[152],"changes.":[153],"In":[154],"paper,":[156],"extend":[158],"use":[160,274],"GPR":[162],"cable-driven":[169],"surgical":[170,292],"robots":[171],"using":[173,217],"i)":[174],"velocity":[175],"feature":[178],"regression":[181],"and":[182,192,249,303],"ii)":[183],"removing":[184],"corrupted":[185],"observations":[187],"based":[188],"rotation":[190],"limits":[191],"magnitude":[194],"velocity.":[196],"evaluate":[198],"approach":[200],"Raven":[203,227],"II":[204],"Robot":[206],"task":[209,289],"grasping":[211],"foam":[212],"\u201cdamaged":[213],"tissue":[214],"\u201d":[215],"fragments,":[216],"PhaseSpace":[219],"LED-based":[220],"motion":[221],"capture":[222],"track":[225],"end-effector.":[228],"Our":[229],"main":[230],"result":[231],"reduction":[234],"norm":[237,251],"mean":[240,254],"position":[241],"error":[242,256],"from":[243,257],"2.6":[244],"cm":[245,248],"0.2":[247],"angular":[255],"20.6":[258],"degrees":[259,262],"2.8":[261],"when":[263],"correcting":[264],"set":[268],"held-out":[270],"trajectories.":[271],"also":[273],"learned":[276],"3.8":[281],"\u00d7":[282],"speedup":[283],"over":[284],"past":[285],"autonomous":[291],"debridement.":[293],"Further":[294],"information":[295],"research,":[298],"including":[299],"data,":[300],"code,":[301],"photos,":[302],"video,":[304],"available":[306],"at":[307]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
