Skip to main content
Fachgebiete
Automobil + Motoren Bauwesen + Immobilien Business IT + Informatik Elektrotechnik + Elektronik Energie + Nachhaltigkeit Finance + Banking Management + Führung Marketing + Vertrieb Maschinenbau + Werkstoffe Versicherung + Risiko
DE
EN
Bücher
Zeitschriften
Themenseiten
Organisationspsychologie Projektmanagement Marketing Smart Manufacturing
Weitere Formate
Podcasts Webinare Technik Webinare Wirtschaft Kongresse Veranstaltungskalender Awards
Jetzt Einzelzugang starten
Zugang für Unternehmen
Referenzkunden
SLX-Digitalkonferenz: Zukunftswerkstatt 2024

Mehr Umsatz mit Top-Kontakten

Am 7. Mai erfahren Sie, wie Vertriebsteams Leadgenerierung, Leadnurturing und Leadstrategien effizient steuern können.
Erweiterte Suche
Anmelden
nach oben
Erschienen in:
Is Active Impedance the Key to a Breakthrough for Legged Robots? Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

Concentric Tube Robots: The State of the Art and Future Directions

verfasst von : Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster III

Erschienen in: Robotics Research

Verlag: Springer International Publishing

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

Seven years ago, concentric tube robots were essentially unknown in robotics, yet today one would be hard pressed to find a major medical robotics forum that does not include several presentations on them. Indeed, we now stand at a noteworthy moment in the history of these robots. The recent maturation of foundational models has created new opportunities for research in control, sensing, planning, design, and applications, which are attracting an increasing number of robotics researchers with diverse interests. The purpose of this review is to facilitate the continued growth of the subfield by describing the state of the art in concentric tube robot research. We begin with current and proposed applications for these robots and then trace their origins (some aspects of which date back to 1985), before proceeding to describe the state of the art in terms of modeling, control, sensing, and design. The paper concludes with forward-looking perspectives, noting that concentric tube robots provide rich opportunities for further research, yet simultaneously appear poised to become viable commercial devices in the near future.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Jetzt informieren
Vorheriges Kapitel Slip Detection in a Novel Tactile Force Sensor
Nächstes Kapitel A Framework for Real-Time Multi-Contact Multi-Body Dynamic Simulation
Literatur
1.
Abbott, J.J., Marayong, P., Okamura, A.M.: Haptic virtual fixtures for robot-assisted manipulation. Springer Tracts Adv. Robot. 28, 49–64 (2007)CrossRefMATH
2.
Abolhassani, N., Patel, R., Moallem, M.: Needle insertion into soft tissue: a survey. Med. Eng. Phys. 29, 413–431 (2007)CrossRef
3.
Alterovitz, R., Patil, S., Derbakova, A.: Rapidly-exploring roadmaps: weighing exploration versus refinement in optimal motion planning. In: IEEE International Conference on Robotics and Automation, pp. 3706–3712 (2011)
4.
Anor, T., Madsen, J.R., Dupont, P.: Algorithms for design of continuum robots using the concentric tubes approach: a neurosurgical example. In: IEEE International Conference on Robotics and Automation, pp. 667–673 (2011)
5.
Arabagi, V., Gosline, A., Wood, R.J., Dupont, P.E.: Simultaneous soft sensing of tissue contact angle and force for millimeter-scale medical robots. In: IEEE International Conference on Robotics and Automation, pp. 4381–4387 (2013)
6.
Bedell, C., Lock, J., Gosline, A., Dupont, P.E.: Design optimization of concentric tube robots based on task and anatomical constraints. In: IEEE International Conference on Robotics and Automation, pp. 398–403 (2011)
7.
Berns, M.S., Tsai, E.Y., Austin-Breneman, J., Schulmeister, J.C., Sung, E., Ozaki, C.K., Walsh, C.J.: Single entry tunneler [SET] for hemodialysis graft procedures. In: Design of Medical Devices Conference, pp. 1–8 (2011)
8.
Burdette, E.C., Rucker, D.C., Prakash, P., Diederich, C.J., Croom, J.M., Clarke, C., Stolka, P., Juang, T., Boctor, E.M., Webster III, R.J.: The ACUSITT ultrasonic ablator: The first steerable needle with an integrated interventional tool. In: SPIE 7629 (2010)
9.
Burgner, J., Herrell, S.D., Webster III, R.J.: Toward flouroscopic shape reconstruction for control of steerable medical devices. ASME Dyn. Sys. Cont. Conf. 2, 1–4 (2011)
10.
Burgner, J., Swaney, P.J., Rucker, D.C., Gilbert, H.B., Nill, S.T., Russell, P.T., Weaver, K.D., Webster III, R.J.: A bimanual teleoperated system for endonasal skull base surgery. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2517–2523 (2011)
11.
Burgner, J., Swaney, P.J., Bruns, T.L., Clark, M.S., Rucker, D.C., Webster III, R.J.: An autoclavable steerable cannula manual deployment device: Design and accuracy analysis. ASME J. Med. Dev. 6(4), 041,007-1–041,007-7 (2012)
12.
Burgner, J., Gilbert, H.B., Webster III, R.J.: On the computational design of concentric tube robots: Incorporating volume-based objectives. In: IEEE International Conference on Robotics and Automation, pp. 1185–1190 (2013)
13.
Burgner, J., Rucker, D.C., Gilbert, H.B., Member, S., Swaney, P.J., Russell, P.T., Weaver, K.D., Webster, R.J.: A telerobotic system for transnasal surgery. In: IEEE/ASME Transactions on Mechatronics, pp. 1–11 (2013) (in press)
14.
Burgner, J., Swaney, P.J., Lathrop, R.A., Weaver, K.D., Webster III, R.J.: Debulking from within: a robotic steerable cannula for intracerebral hemorrhage evacuation. IEEE Trans. Biomed. Eng. 60(9), 2567–2575 (2013)CrossRef
15.
Butler, E.J., Folk, C., Cohen, A., Vasilyev, N.V., Chen, R., del Nido, P.J., Dupont, P.E.: Metal MEMS tools for beating-heart tissue approximation. In: International Conference on Robotics and Automation, pp. 411–416 (2011)
16.
Butler, E.J., Hammond-Oakley, R., Chawarski, S., Gosline, A.H., Codd, P., Anor, T., Madsen, J.R., Dupont, P.E., Lock, J.:Robotic neuro-endoscope with concentric tube augmentation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2941–2946 (2012)
17.
Comber, D.B., Cardona, D., Webster III, R.J., Barth, E.J.: Precision pneumatic robot for mri-guided neurosurgery. In: Design of Medical Devices Conference, vol. 35 (2012)
18.
Comber, D.B., Barth, E.J., Webster III, R.J.: MR-compatible precision pneumatic active cannula robot. In: ASME J. Med. Dev. (2013) (in press)
19.
Croom, J.M., Rucker, D.C., Romano, J.M., Webster III, R.J.: Visual sensing of continuum robot shape using self-organizing maps. In: IEEE International Conference on Robotics and Automation, pp. 4591–4596 (2010)
20.
Cuschieri, A., Buess, G.: Future advances in endoscopic surgery. In: Cuschieri, A., Buess, G., Périssat, J. (eds.) Operative Manual of Endoscopic Surgery, pp. 339–347. Springer, Heidelberg (1992)
21.
Daum, W.R.: Deflectable needle assembly. US Patent 6,572,593 (2003)
22.
Dieci, L., Russell, R.D., Van Vleck, E.S.: Unitary integrators and applications to continuous orthonormalization techniques. SIAM J. Numer. Anal. 31, 261–281 (1994)MathSciNetCrossRefMATH
23.
24.
Dupont, P.E., Lock, J., Butler, E.: Torsional kinematic model for concentric tube robots. IEEE Int. Conf. Robot. Autom. 2009, 2964–2971 (2009)
25.
Dupont, P.E., Lock, J., Itkowitz, B., Butler, E.: Design and control of concentric-tube robots. IEEE Trans. Robot. 26(2), 209–225 (2010)CrossRef
26.
Dupont, P.E., Gosline, A., Vasilyev, N., Lock, J., Butler, E., Folk, C., Cohen, A., Chen, R., Schmitz, G., Ren, H., del Nido, P.: Concentric tube robots for minimally invasive surgery. In: Hamlyn Symposium on Medical Robotics, pp. 3–5 (2012)
27.
Furusho, J., Ono, T., Murai, R., Fujimoto, T., Chiba, Y., Horio, H.: Development of a curved multi-tube (CMT) catheter for percutaneous umbilical blood sampling and control methods of CMT catheters for solid organs. In: IEEE International Conference on Mechatronics and Automation, pp. 410–415 (2005)
28.
Furusho, J., Katsuragi, T., Kikuchi, T., Suzuki, T., Tanaka, H., Chiba, Y., Horio, H.: Curved multi-tube systems for fetal blood sampling and treatments of organs like brain and breast. Int. J. Comput. Assist. Radiol. Surg. 1(S1), 223–226 (2006)
29.
Gilbert, H., Webster III, R.J.: Can concentric tube robots follow the leader? In: IEEE International Conference on Robotics and Automation, pp. 4866–4872 (2013)
30.
Gosline, A.H., Vasilyev, N.V., Butler, E.J., Folk, C., Cohen, A., Chen, R., Lang, N., Del Nido, P.J., Dupont, P.E.: Percutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools. Int. J. Robot. Res. 31(9), 1081–1093 (2012)CrossRef
31.
Gosline, A.H., Vasilyev, N.V., Veeramani, A., Wu, M., Schmitz, G., Chen, R., Arabagi, V., del Nido, P.J., Dupont, P.E.: Metal MEMS tools for beating-heart tissue removal. In: IEEE International Conference on Robotics and Automation, pp. 1921–1926 (2012)
32.
Gosline, A.H., Arabagi, V., Kassam, A., Dupont, P.E.: Achieving biocompatibility in soft sensors for surgical robots. In: Hamlyn Symposium on Medical robotics, pp. 5–6 (2013)
33.
Graves, C.M., Slocum, A., Gupta, R., Walsh, C.J.:Towards a compact robotically steerable thermal ablation probe. In: IEEE International Conference on Robotics and Automation, pp. 709–714 (2012)
34.
Greenblatt, E., Trovato, K., Popovic, A., Stanton, D.: Interlocking nested cannula. US Patent Application: 20110201887 (2011)
35.
Iordachita, I., Sun, Z., Balicki, M., Kang, J.U., Phee, S.J., Handa, J., Gehlbach, P., Tayler, R.: A sub-millimetric, 0.25 mN resolution fully integrated fiber-optic force-sensing tool for retinal microsurgery. Int. J. Comput. Assist. Radiol. Surg. 4, 383–390 (2009)
36.
Kesner, S.B., Howe, R.D.: Position control of motion compensation cardiac catheters. IEEE Trans. Robot. 27(6), 1045–1055 (2011)CrossRef
37.
Kratchman, L.B., Rahman, M.M., Saunders, J.R., Swaney, P.J., Webster III, R.J.: Toward robotic needle steering in lung biopsy: a tendon-actuated approach. In: SPIE (2011)
38.
Kutzer, M.D., Segreti, S.M., Brown, C.Y., Taylor, R.H., Mears, S.C., Armand, M.: Design of a new cable-driven manipulator with a large open lumen: Preliminary applications in the minimally-invasive removal of osteolysis. In: IEEE International Conference on Robotics and Automation, pp. 2913–2920 (2011)
39.
Lathrop, R.A., Rucker, D.C., Webster III, R.J.: Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing. In: IEEE International Conference on Robotics and Automation, pp. 5601–5606 (2010)
40.
Lobaton, E.J., Fu, J., Torres, L.G., Alterovitz, R.: Continuous shape estimation of continuum robots using X-ray images. In: IEEE International Conference on Robotics and Automation, pp. 717–724 (2013)
41.
Lock, J., Dupont, P.E.: Friction modeling in concentric tube robots. In: IEEE International Conference on Robotics and Automation, pp. 1139–1146 (2011)
42.
Lock, J., Laing, G., Mahvash, M., Dupont, P.E.: Quasistatic modeling of concentric tube robots with external loads. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2325–2332 (2010)
43.
Loser, M.: A new robotic system for visually controlled percutaneous interventions under \({\rm {X}}\)-ray or \({\rm {CT}}\)-fluoroscopy. Master’s thesis, The Albert-Ludwig-University, Germany (2005)
44.
Lyons, L.A., Webster III, R.J., Alterovitz, R.: Motion planning for active cannulas. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 801–806 (2009)
45.
Lyons, L.A., Webster III, R.J., Alterovitz, R.: Planning active cannula configurations through tubular anatomy. IEEE Int. Conf. Robot. Autom. 1, 2082–2087 (2010)
46.
Mahvash, M., Dupont, P.E.: Bilateral teleoperation of flexible surgical robots. In: Proceedings of the New Vistas and Challenges in Telerobotics Workshop on IEEE International Conference on Intelligent Robots and Systems, pp. 58–64 (2008)
47.
Mahvash, M., Dupont, P.E.: Stiffness control of a continuum manipulator in contact with a soft environment. IEEE/RSJ Int. Conf. Intell. Robot. Sys. 2010, 863–870 (2010)
48.
Mahvash, M., Dupont, P.E.: Stiffness control of surgical continuum manipulators. IEEE Trans. Robot. 27(2), 334–345 (2011)CrossRef
49.
Melzer, A.: Instruments for endoscopic surgery. In: A. Cuschieri, G. Buess, J. Périssat (eds.) Operative Manual of Endoscopic Surgery, p. 35. Springer, Heidelberg (1992)
50.
Melzer, A., Schurr, M.O., Lirici, M.M., Klemm, B., Stöckel, D., Buess, G.: Future trends in endoscopic suturing. Endosc. Surg. Allied Technol. 2, 78–82 (1994)
51.
Melzer, A., Schmidt, A., Kipfmüller, K., Grönmeyer, D., Seibel, R.: Technology and principles of tomographic image-guided interventions and surgery. Surg. Endosc. 11, 946–956 (1997)CrossRef
52.
Okazawa, S., Ebrahimi, R., Chuang, J., Salcudean, S.E., Rohling, R.: Hand-held steerable needle device. IEEE/ASME Trans. Mechatron. 10, 285–296 (2005)CrossRef
53.
Park, Y., Elayaperumal, S., Daniel, B., Ryu, S.C., Shin, M., Savall, J., Black, R.J., Moslehi, B., Cutkosky, M.R.: Real-time estimation of 3-d needle shape and deflection for MRI-guided interventions. IEEE/ASME Trans. Mechatron. 15, 906–915 (2010)
54.
Puangmali, P., Althoefer, K., Seneviratne, L.D., Murphy, D., Dasgupta, P.: State-of-the-art in force and tactile sensing for minimally invasive surgery. IEEE Sens. J. 8, 371–381 (2008)CrossRef
55.
Reed, K.B., Majewicz, A., Kallem, V., Alterovitz, R., Goldberg, K., Cowan, N., Okamura, A.: Robot assisted needle steering. Robot. Autom. Mag. 18, 35–46 (2011)CrossRef
56.
Ren, H., Dupont, P.E.: Tubular structure enhancement for surgical instrument detection in 3D ultrasound. Int. Conf. IEEE EMBS 2011, 7203–7206 (2011)
57.
Ren, H., Dupont, P.E.: Tubular enhanced geodesic active contours for continuum robot detection using 3D ultrasound. In: IEEE International Conference on Robotics and Automation, pp. 2907–2912 (2012)
58.
Robinson, G., Davies, J.: Continuum robots—a state of the art. In: IEEE International Conference on Robotics and Automation, pp. 2849–2854 (1999)
59.
Roesthuis, R.J., Kemp, M., van den Dobbelsteen, J.J., Misra, S.: Three-dimensional needle shape reconstruction using an array of fiber Bragg grating sensors. In: IEEE/ASME Transactions on Mechatronics (2013) (in press)
60.
Rucker, D.C., Webster III, R.J.: Mechanics-based modeling of bending and torsion in active cannulas. In: IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechanics, pp. 704–709 (2008)
61.
Rucker, D.C., Webster III, R.J.: Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas. In: IEEE International Conference on Robotics and Automation, pp. 2533–2537 (2009)
62.
Rucker, D.C., Webster III, R.J.: Parsimonious evaluation of concentric-tube continuum robot equilibrium conformation. IEEE Trans. Biomed. Eng. 56(9), 2308–2311 (2009)CrossRef
63.
Rucker, D.C., Jones, B.A., Webster, R.J.: A geometrically exact model for externally loaded concentric-tube continuum robots. IEEE Trans. Robot. 26(5), 769–780 (2010)CrossRef
64.
Rucker, D.C., Webster III, R.J.: Computing Jacobians and compliance matrices for externally loaded continuum robots. IEEE Int. Conf. Robot. Autom. 3, 945–950 (2011)
65.
Rucker, D.C., Jones, B.A., Webster III, R.J.: A model for concentric tube continuum robots under applied wrenches. In: IEEE International Conference on Robotics and Automation, pp. 1047–1052 (2010)
66.
Rucker, D.C., Webster III, R.J., Chirikjian, G.S., Cowan, N.J.: Equilibrium conformations of concentric-tube continuum robots. Int. J. Robot. Res. 29(10), 1263–1280 (2010)CrossRef
67.
Schwartz, M.: New Materials, Processes, and Methods Technology. CRC Press, Boca Raton (2005)CrossRef
68.
Sears, P., Dupont, P.: A steerable needle technology using curved concentric tubes. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2850–2856 (2006)
69.
Stoeckel, D., Melzer, A.: New developments in superelastic instruments for minimally invasive surgery. In: Presentation for “Changing Surgical Markets—Increasing Efficiency and Reducing Cost Through New Technology and Procedure Innovation” (1993)
70.
Su, H., Cardona, D.C., Shang, W., Camilo, A., Cole, G.A., Rucker, D.C., Webster III, R.J., Fischer, G.S.: A MRI-guided concentric tube continuum robot with piezoelectric actuation: a feasibility study. In: IEEE International Conference on Robotics and Automation, pp. 1939–1945 (2012)
71.
Swaney, P.J., Croom, J.M., Burgner, J., Gilbert, H.B., Rucker, D.C., Weaver, K.D., Russell III, P.T., Webster, R.J.: Design of a quadramanual robot for single-nostril skull base surgery. In: ASME Dynamic Systems and Control Conference (2012)
72.
Terayama, M., Furusho, J., Monden, M.: Curved multi-tube device for path-error correction in a needle-insertion system. Int. J. Med. Robot. Comp. Assist. Surg. 3(2), 125–134 (2007)
73.
Torres, L.G., Alterovitz, R.: Motion planning for concentric tube robots using mechanics-based models. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5153–5159 (2011)
74.
Torres, L.G., Webster III, R.J., Alterovitz, R.: Task-oriented design of concentric tube robots using mechanics-based models. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2012)
75.
Trivedi, D., Rahn, C.D., Kier, W.M., Walker, I.D.: Soft robotics: biological inspiration, state of the art, and future research. Appl. Bionics Biomech. 5, 99–117 (2008)CrossRef
76.
Vasilyev, N.V., Dupont, P.E., del Nido, P.J.: Robotics and imaging in congenital heart surgery. Future Cardiol. 8(2), 285–296 (2012)CrossRef
77.
Walsh, C.J., Franklin, J., Slocum, A.H., Gupta, R.: Design of a robotic tool for percutaneous instrument distal tip repositioning. In: IEEE Engineering in Medicine and Biology Society, pp. 2097–2100 (2011)
78.
Webster III, R.J.: Design and Mechanics of Continuum Robots for Surgery. Ph.D. thesis, The Johns Hopkins University (2007)
79.
Webster III, R.J., Jones, B.A.: Design and kinematic modeling of constant curvature continuum robots: a review. Int. J. Robot. Res. 29(13), 1661–1683 (2010)CrossRef
80.
Webster III, R.J., Kim, J.S., Cowan, N.J., Chirikjian, G.S., Okamura, A.M.: Nonholonomic modeling of needle steering. Int. J. Robot. Res. 25, 509–525 (2006)CrossRef
81.
Webster III, R.J., Okamura, A., Cowan, N.J.: Toward active cannulas: miniature snake-like surgical robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2857–2863 (2006)
82.
Webster III, R.J., Romano, J.M., Cowan, N.J.: Kinematics and calibration of active cannulas. In: IEEE International Conference on Robotics and Automation, pp. 3888–3895 (2008)
83.
Webster III, R.J., Swensen, J.P., Romano, J.M., Cowan, N.J.: Closed-form differential kinematics for concentric-tube continuum robots with application to visual servoing. In: International Symposium on Experimental Robotics, pp. 485–494 (2008)
84.
Webster III, R.J., Romano, J.M., Cowan, N.J.: Mechanics of precurved-tube continuum robots. IEEE Trans. Robot. 25(1), 67–78 (2009)CrossRef
85.
Wei, W., Goldman, R.E., Fine, H.F., Chang, S., Simaan, N.: Performance evaluation for multi-arm manipulation of hollow suspended organs. IEEE Trans. Robot. 25, 147–157 (2009)CrossRef
86.
Wei, W., Simaan, N.: Modeling, force sensing, and control of flexible cannulas for microstent delivery. ASME J. Dyn. Sys. Meas. Control 134(4), 1–12 (2012)
87.
Xu, R., Patel, R.V.: A fast torsionally compliant kinematic model of concentric-tube robots. Int. Conf. IEEE EMBS 2012, 904–907 (2012)
88.
Xu, R., Asadian, A., Naidu, A.S., Patel, R.V.: Position control of concentric-tube continuum robots using a modified jacobian-based approach. In: IEEE International Conference on Robotics and Automation, pp. 5793–5798 (2013)
89.
Yu, H., Shen, J., Joos, K.M., Simaan, N.: Design, calibration and preliminary testing of a robotic telemanipulator for OCT guided retinal surgery. In: IEEE International Conference on Robotics and Automation, pp. 225–231 (2013)
Metadaten
Titel
Concentric Tube Robots: The State of the Art and Future Directions
verfasst von
Hunter B. Gilbert
D. Caleb Rucker
Robert J. Webster III
Copyright-Jahr
2016
Buch
Robotics Research

Print ISBN: 978-3-319-28870-3

Electronic ISBN: 978-3-319-28872-7

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-28872-7_15

Neuer Inhalt

    Bildnachweise