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Journal Articles
- 2024
[j8]Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz:
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. IEEE Robotics Autom. Lett. 9(11): 9263-9270 (2024)- 2023
- [j7]Mengyu Fu
, Alan Kuntz, Oren Salzman, Ron Alterovitz:
Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps. Int. J. Robotics Res. 42(4-5): 150-175 (2023) - [j6]Michael Bentley, Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz:
Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model. J. Medical Robotics Res. 8(1&2): 2350003:1-2350003:16 (2023) - [j5]Margaret Rox, Daniel S. Esser, Mariana E. Smith, Tayfun Efe Ertop, Maxwell Emerson, Fabien Maldonado, Erin A. Gillaspie, Alan Kuntz, Robert J. Webster III:
Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks. IEEE Robotics Autom. Lett. 8(6): 3494-3501 (2023) - [j4]Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz:
Autonomous medical needle steering in vivo. Sci. Robotics 8(82) (2023) - 2022
- [j3]Michael Bentley, D. Caleb Rucker, Alan Kuntz:
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning. IEEE Access 10: 80999-81019 (2022) - 2021
- [j2]Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz:
Backward Planning for a Multi-Stage Steerable Needle Lung Robot. IEEE Robotics Autom. Lett. 6(2): 3987-3994 (2021) - 2020
- [j1]Margaret Rox, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Alan Kuntz, Josephine Granna, Jason E. Mitchell, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Jason A. Akulian, Ron Alterovitz, Robert J. Webster III:
Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles. IEEE Access 8: 181411-181419 (2020)
Conference and Workshop Papers
- 2024
- [c25]Bao Thach, Tanner Watts, Shing-Hei Ho, Tucker Hermans, Alan Kuntz:
DefGoalNet: Contextual Goal Learning from Demonstrations for Deformable Object Manipulation. ICRA 2024: 3145-3152 - [c24]Brian Y. Cho, Alan Kuntz:
Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery. ICRA 2024: 15478-15484 - [c23]Zohre Karimi, Shing-Hei Ho, Bao Thach, Alan Kuntz, Daniel S. Brown:
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery. ISMR 2024: 1-7 - [c22]Jordan Thompson, Brian Y. Cho, Daniel S. Brown, Alan Kuntz:
Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks. ISMR 2024: 1-7 - [c21]Daniel S. Esser, Emily M. McCabe, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III:
Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines. RoboSoft 2024: 366-373 - [c20]Emily M. McCabe, Daniel S. Esser, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III:
Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators. RoboSoft 2024: 711-715 - 2023
- [c19]Mariana E. Smith, Daniel S. Esser, Margaret Rox, Alan Kuntz, Robert J. Webster III:
A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports. ISMR 2023: 1-6 - 2022
- [c18]Bao Thach, Brian Y. Cho, Alan Kuntz, Tucker Hermans:
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds. ICRA 2022: 8274-8281 - 2021
- [c17]Sarvenaz Chaeibakhsh, Roya Sabbagh Novin, Tucker Hermans, Andrew Merryweather, Alan Kuntz:
Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls. ICORES 2021: 36-48 - [c16]Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz:
Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume. ICRA 2021: 1418-1425 - [c15]Brian Y. Cho, Tucker Hermans, Alan Kuntz:
Planning Sensing Sequences for Subsurface 3D Tumor Mapping. ISMR 2021: 1-7 - [c14]Yixuan Huang, Michael Bentley, Tucker Hermans, Alan Kuntz:
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots. ISMR 2021: 1-7 - 2020
- [c13]Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz:
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. ICRA 2020: 1963-1969 - [c12]Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz:
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. ISER 2020: 334-342 - 2019
- [c11]Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa:
optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories. IROS 2019: 1355-1362 - [c10]Alan Kuntz, Mengyu Fu, Ron Alterovitz:
Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization. IROS 2019: 2205-2212 - [c9]Stephanie Amack, Margaret Rox, Jason E. Mitchell, Tayfun Efe Ertop, Maxwell Emerson, Alan Kuntz, Fabien Maldonado, Jason A. Akulian, Joshua B. Gafford, Ron Alterovitz, Robert J. Webster III:
Design and control of a compact modular robot for transbronchial lung biopsy. Medical Imaging: Image-Guided Procedures 2019: 109510I - [c8]Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz:
Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search. Robotics: Science and Systems 2019 - 2018
- [c7]Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz:
Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. ICRA 2018: 926-933 - [c6]Mengyu Fu, Alan Kuntz, Robert J. Webster III, Ron Alterovitz:
Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images. IROS 2018: 4942-4949 - [c5]Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa:
Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs. ISER 2018: 3-13 - 2017
- [c4]Alan Kuntz, Arthur W. Mahoney, Nicolas E. Peckman, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz:
Motion planning for continuum reconfigurable incisionless surgical parallel robots. IROS 2017: 6463-6469 - [c3]Alan Kuntz, Chris Bowen, Ron Alterovitz:
Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization. ISRR 2017: 929-945 - 2015
- [c2]Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster III, Ron Alterovitz:
A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation. ICRA 2015: 2361-2367 - [c1]Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz:
Motion planning for a three-stage multilumen transoral lung access system. IROS 2015: 3255-3261
Informal and Other Publications
- 2024
- [i21]Samuel Schmidgall, Ji Woong Kim, Alan Kuntz, Ahmed Ezzat Ghazi, Axel Krieger:
General-purpose foundation models for increased autonomy in robot-assisted surgery. CoRR abs/2401.00678 (2024) - [i20]Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz:
Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network. CoRR abs/2404.03816 (2024) - [i19]Jordan Thompson, Brian Y. Cho, Daniel S. Brown, Alan Kuntz:
Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks. CoRR abs/2404.04241 (2024) - [i18]Zohre Karimi, Shing-Hei Ho, Bao Thach, Alan Kuntz, Daniel S. Brown:
Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery. CoRR abs/2404.07185 (2024) - [i17]Yosuke Mizutani, Daniel Coimbra Salomao, Alex Crane, Matthias Bentert, Pål Grønås Drange, Felix Reidl, Alan Kuntz, Blair D. Sullivan:
Leveraging Fixed-Parameter Tractability for Robot Inspection Planning. CoRR abs/2407.00251 (2024) - 2023
- [i16]Alexandra Leavitt, Ryan Lam, Nichols Crawford Taylor, Daniel S. Drew, Alan Kuntz:
Toward a Millimeter-Scale Tendon-Driven Continuum Wrist with Integrated Gripper for Microsurgical Applications. CoRR abs/2302.07252 (2023) - [i15]Bao Thach, Brian Y. Cho, Tucker Hermans, Alan Kuntz:
DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects. CoRR abs/2305.04449 (2023) - [i14]Brian Y. Cho, Alan Kuntz:
Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery. CoRR abs/2309.10154 (2023) - [i13]Bao Thach, Tanner Watts, Shing-Hei Ho, Tucker Hermans, Alan Kuntz:
DefGoalNet: Contextual Goal Learning from Demonstrations For Deformable Object Manipulation. CoRR abs/2309.14463 (2023) - 2022
- [i12]Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz:
Autonomous Medical Needle Steering In Vivo. CoRR abs/2211.02597 (2022) - [i11]Michael Bentley, D. Caleb Rucker, Alan Kuntz:
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning. CoRR abs/2211.16452 (2022) - 2021
- [i10]Michael Bentley, D. Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz:
A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles. CoRR abs/2101.02246 (2021) - [i9]Sarvenaz Chaeibakhsh, Roya Sabbagh Novin, Tucker Hermans, Andrew Merryweather, Alan Kuntz:
Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls. CoRR abs/2101.03210 (2021) - [i8]Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz:
A Recurrent Neural Network Approach to Roll Estimation for Needle Steering. CoRR abs/2101.04856 (2021) - [i7]Bao Thach, Alan Kuntz, Tucker Hermans:
DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation. CoRR abs/2107.08067 (2021) - [i6]Bao Thach, Brian Y. Cho, Alan Kuntz, Tucker Hermans:
Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds. CoRR abs/2110.04685 (2021) - [i5]Brian Y. Cho, Tucker Hermans, Alan Kuntz:
Planning Sensing Sequences for Subsurface 3D Tumor Mapping. CoRR abs/2110.06195 (2021) - [i4]Yixuan Huang, Michael Bentley, Tucker Hermans, Alan Kuntz:
Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots. CoRR abs/2110.07789 (2021) - 2019
- [i3]Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz:
Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning. CoRR abs/1904.12907 (2019) - [i2]Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz:
Toward Asymptotically-Optimal Inspection Planning via Efficient Near-Optimal Graph Search. CoRR abs/1907.00506 (2019) - 2016
- [i1]Alan Kuntz, Chris Bowen, Ron Alterovitz:
Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration. CoRR abs/1607.06374 (2016)
Coauthor Index
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