@inproceedings{Marinho2018,
abstract = {Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In those, surgeons have restricted vision to areas near the surgical tool tips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings, in special when those parts are outside the surgical field-of-view. Dynamic active constraints can be used to prevent collisions between moving instruments and prevent damage to static or moving tissues. In this work, our vector field inequality method is extended to provide dynamic active constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated in experiments and simulations in which the robot tools have to avoid collisions, autonomously and in real-time, with a constrained endonasal surgical environment and between each other. Results show that both manipulator-manipulator and manipulator-boundary collisions can be effectively prevented using the vector field inequalities.},
archivePrefix = {arXiv},
arxivId = {1804.11270},
author = {Marinho, Murilo M. and Adorno, Bruno V. and Harada, Kanako and Mitsuishi, Mamoru},
booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
doi = {10.1109/ICRA.2018.8461105},
eprint = {1804.11270},
file = {:D$\backslash$:/murilo/Dropbox/artigos/Vers{\~{o}}es Publicadas/(2018) ICRA.pdf:pdf},
isbn = {978-1-5386-3081-5},
issn = {09699961},
month = {may},
pages = {5364--5371},
pmid = {23201207},
publisher = {IEEE},
title = {{Active Constraints Using Vector Field Inequalities for Surgical Robots}},
url = {http://arxiv.org/abs/1804.11270 https://linkinghub.elsevier.com/retrieve/pii/S0969996112003762 https://ieeexplore.ieee.org/document/8461105/},
volume = {53},
year = {2018}
}

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In those, surgeons have restricted vision to areas near the surgical tool tips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings, in special when those parts are outside the surgical field-of-view. Dynamic active constraints can be used to prevent collisions between moving instruments and prevent damage to static or moving tissues. In this work, our vector field inequality method is extended to provide dynamic active constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated in experiments and simulations in which the robot tools have to avoid collisions, autonomously and in real-time, with a constrained endonasal surgical environment and between each other. Results show that both manipulator-manipulator and manipulator-boundary collisions can be effectively prevented using the vector field inequalities.

@Article{Pham2017,
  author        = {Pham, H.L. and Adorno, B.V. and Perdereau, Veronique and Fraisse, Philippe},
  title         = {{Set-point control of robot end-effector pose using dual quaternion feedback}},
  journal       = {Robotics and Computer-Integrated Manufacturing},
  year          = {2018},
  volume        = {52},
  pages         = {100--110},
  month         = {aug},
  issn          = {07365845},
  __markedentry = {[nml:6]},
  doi           = {10.1016/j.rcim.2017.11.003},
  keywords      = {Dual quaternion,Pose control,Robot manipulator},
  url           = {http://linkinghub.elsevier.com/retrieve/pii/S0736584516301831},
}

@Article{Silva2017,
  author        = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},
  title         = {{Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra}},
  journal       = {Journal of Intelligent {\&} Robotic Systems},
  year          = {2018},
  volume        = {91},
  number        = {2},
  pages         = {249--262},
  month         = {aug},
  issn          = {0921-0296},
  __markedentry = {[nml:6]},
  doi           = {10.1007/s10846-017-0686-3},
  url           = {http://link.springer.com/10.1007/s10846-017-0686-3},
}

@Article{Quiroz-Omana2017,
  author        = {Quiroz-Oma{\~{n}}a, Juan Jos{\'{e}} and Adorno, Bruno Vilhena},
  title         = {{Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming}},
  journal       = {Journal of Intelligent {\&} Robotic Systems},
  year          = {2018},
  volume        = {91},
  number        = {2},
  pages         = {263--278},
  month         = {aug},
  issn          = {0921-0296},
  __markedentry = {[nml:6]},
  doi           = {10.1007/s10846-017-0713-4},
  url           = {http://link.springer.com/10.1007/s10846-017-0713-4},
}

@inproceedings{Marinho2017,
author = {Marinho, Murilo M. and Harada, Kanako and Mitsuishi, Mamoru},
booktitle = {2017 IEEE/SICE International Symposium on System Integration (SII)},
doi = {10.1109/SII.2017.8279298},
file = {:D$\backslash$:/murilo/Dropbox/artigos/Vers{\~{o}}es Publicadas/(2017) SII.pdf:pdf},
isbn = {978-1-5386-2263-6},
month = {dec},
pages = {668--673},
publisher = {IEEE},
title = {{Comparison of remote center-of-motion generation algorithms}},
url = {http://ieeexplore.ieee.org/document/8279298/},
volume = {2018-Janua},
year = {2017}
}

@InProceedings{Alban2017,
  author        = {Alban, Diana Sabina and Adorno, Bruno Vilhena},
  title         = {{External hybrid force/pose controller for manipulator robots using dual quaternion algebra}},
  booktitle     = {2017 Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR)},
  year          = {2017},
  pages         = {1--6},
  address       = {Curitiba},
  month         = {nov},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/SBR-LARS-R.2017.8215334},
  isbn          = {978-1-5386-0956-9},
  url           = {http://ieeexplore.ieee.org/document/8215334/},
}

@Article{Kussaba2017,
  author        = {Kussaba, Hugo T.M. and Figueredo, Luis F.C. and Ishihara, Jo{\~{a}}o Y. and Adorno, Bruno V.},
  title         = {{Hybrid kinematic control for rigid body pose stabilization using dual quaternions}},
  journal       = {Journal of the Franklin Institute},
  year          = {2017},
  volume        = {354},
  number        = {7},
  pages         = {2769--2787},
  month         = {may},
  issn          = {00160032},
  __markedentry = {[nml:6]},
  doi           = {10.1016/j.jfranklin.2017.01.028},
  url           = {http://linkinghub.elsevier.com/retrieve/pii/S0016003217300522},
}

@Article{Adorno2016,
  author        = {Adorno, Bruno Vilhena and Fraisse, Philippe},
  title         = {{The cross-motion invariant group and its application to kinematics}},
  journal       = {IMA Journal of Mathematical Control and Information},
  year          = {2017},
  volume        = {34},
  number        = {4},
  pages         = {1359--1378},
  month         = {dec},
  issn          = {0265-0754},
  __markedentry = {[nml:6]},
  doi           = {10.1093/imamci/dnw032},
  keywords      = {cross-motion invariance,kinematics,rigid motion,unit dual quaternion},
  url           = {http://imamci.oxfordjournals.org/lookup/doi/10.1093/imamci/dnw032 https://academic.oup.com/imamci/article-lookup/doi/10.1093/imamci/dnw032},
}

@article{Marinho2016,
author = {Marinho, Murilo M. and Bernardes, Mariana C. and Bo, Antonio P. L.},
doi = {10.1142/S2424905X16500070},
file = {:D$\backslash$:/murilo/Dropbox/artigos/Vers{\~{o}}es Publicadas/(2016) JMRR .pdf:pdf},
issn = {2424-905X},
journal = {Journal of Medical Robotics Research},
keywords = {dual quaternions,kinematic control,robotic surgery},
month = {dec},
number = {04},
pages = {1650007},
title = {{Using General-Purpose Serial-Link Manipulators for Laparoscopic Surgery with Moving Remote Center of Motion}},
url = {http://www.worldscientific.com/doi/abs/10.1142/S2424905X16500070},
volume = {01},
year = {2016}
}

@inproceedings{Marinho2016a,
author = {Marinho, M M and Harada, K and Sugita, N and Mitsuishi, M},
booktitle = {2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
doi = {10.1109/BIOROB.2016.7523650},
file = {:D$\backslash$:/murilo/Dropbox/artigos/Vers{\~{o}}es Publicadas/(2016) BIOROB.pdf:pdf},
isbn = {978-1-5090-3287-7},
month = {jun},
pages = {347--352},
publisher = {IEEE},
title = {{Reduced errors in robot-aided minimally invasive surgery through online condition number optimization}},
url = {http://ieeexplore.ieee.org/document/7523650/},
year = {2016}
}

@InProceedings{Silva2016,
  author        = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},
  title         = {{Whole-body control of a mobile manipulator using feedback linearization based on dual quaternions}},
  booktitle     = {2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)},
  year          = {2016},
  pages         = {293--298},
  month         = {oct},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/LARS-SBR.2016.56},
  isbn          = {978-1-5090-3656-1},
  url           = {http://ieeexplore.ieee.org/document/7783542/},
}

@InProceedings{Fonseca2016,
  author        = {Fonseca, Mariana De Paula Assis and Adorno, Bruno Vilhena},
  title         = {{Whole-Body Modeling and Hierarchical Control of a Humanoid Robot Based on Dual Quaternion Algebra}},
  booktitle     = {2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)},
  year          = {2016},
  pages         = {103--108},
  month         = {oct},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/LARS-SBR.2016.24},
  isbn          = {978-1-5090-3656-1},
  keywords      = {Humanoid robot,Kinematic control,Whole-body control},
  url           = {http://ieeexplore.ieee.org/document/7783510/},
}

@InProceedings{Rego2016,
  author        = {Rego, Brenner S. and Adorno, Bruno V. and Raffo, Guilherme V.},
  title         = {{Formation Backstepping Control Based on the Cooperative Dual Task-Space Framework: A Case Study on Unmanned Aerial Vehicles}},
  booktitle     = {2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)},
  year          = {2016},
  pages         = {163--168},
  month         = {oct},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/LARS-SBR.2016.34},
  isbn          = {978-1-5090-3656-1},
  url           = {http://ieeexplore.ieee.org/document/7783520/},
}

@InProceedings{Quiroz-Omana2016,
  author        = {Quiroz-Omana, Juan Jose and Adorno, Bruno Vilhena},
  title         = {{Parsimonious Kinematic Control of Nonholonomic Mobile Manipulators}},
  booktitle     = {2016 XIII Latin American Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR)},
  year          = {2016},
  pages         = {73--78},
  month         = {oct},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  abstract      = {This paper presents the implementation and per- formance comparison of two whole-body kinematic control strategies for a robot composed of one manipulator with five degrees of freedom (DOF) serially coupled to a nonholonomic mobile base. The control strategy is based on a cascade scheme composed of an outer loop that takes into account all DOF and an inner loop that explicitly deals with the nonholonomic constraints of the mobile base. The comparison is performed between two techniques applied at the outer loop to deal with the whole-body motion, namely a traditional approach that uses the pseudoinverse of the robot Jacobian matrix and the parsimonious control recently introduced by Gon{\c{c}}alves et al. [1]. Experiments on a real robot show that the parsimonious approach uses fewer actuators than the traditional approach at the expense of more abrupt control signals.},
  doi           = {10.1109/LARS-SBR.2016.19},
  isbn          = {978-1-5090-3656-1},
  keywords      = {Adorno,Quiroz-Oma{\~{n}}a},
  url           = {http://ieeexplore.ieee.org/document/7783505/},
}

This paper presents the implementation and per- formance comparison of two whole-body kinematic control strategies for a robot composed of one manipulator with five degrees of freedom (DOF) serially coupled to a nonholonomic mobile base. The control strategy is based on a cascade scheme composed of an outer loop that takes into account all DOF and an inner loop that explicitly deals with the nonholonomic constraints of the mobile base. The comparison is performed between two techniques applied at the outer loop to deal with the whole-body motion, namely a traditional approach that uses the pseudoinverse of the robot Jacobian matrix and the parsimonious control recently introduced by Gonçalves et al. [1]. Experiments on a real robot show that the parsimonious approach uses fewer actuators than the traditional approach at the expense of more abrupt control signals.

@InProceedings{Mello2016,
  author        = {Mello, Laysa S and Raffo, Guilherme V and Adorno, Bruno V},
  title         = {{Robust whole-body control of an unmanned aerial manipulator}},
  booktitle     = {2016 European Control Conference (ECC)},
  year          = {2016},
  pages         = {702--707},
  address       = {Aalborg, Denmark},
  month         = {jun},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/ECC.2016.7810371},
  isbn          = {978-1-5090-2591-6},
  url           = {http://ieeexplore.ieee.org/document/7810371/},
}

@inproceedings{Marinho2015,
abstract = {This work addresses the task-space design prob- lem of a linear-quadratic optimal tracking controller for robotic manipulators using the unit dual quaternion formalism. The efficiency, compactness, and lack of singularity of the representation render the unit dual quaternion a suitable framework for simultaneously describing the attitude and the position of the end-effector. Motivated by the advantages of this kinematic description, we propose a new task-space linear- quadratic optimal tracking controller in order to find an optimal trajectory for the end-effector, providing a tool to balance more conveniently the end-effector error and its task- space velocity. This is possible because the kinematic control problem using the dual quaternion transformation invariant error can be reduced to an affine time-varying system. The proposed optimal tracking controller allows the compensation of trajectory induced disturbances, as well as other modeled additive disturbances and known bias. Simulation results with different design parameters provide a performance overview, in comparison with standard kinematic controllers with and without a feed-forward term, for tracking a desired reference.},
author = {Marinho, M. M. and Figueredo, L. F. C. and Adorno, B. V.},
booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
doi = {10.1109/IROS.2015.7353948},
file = {:D$\backslash$:/murilo/Dropbox/artigos/Vers{\~{o}}es Publicadas/(2015) IROS.pdf:pdf},
isbn = {978-1-4799-9994-1},
issn = {21530866},
month = {sep},
pages = {4047--4052},
publisher = {IEEE},
title = {{A dual quaternion linear-quadratic optimal controller for trajectory tracking}},
url = {http://ieeexplore.ieee.org/document/7353948/},
volume = {2015-Decem},
year = {2015}
}

This work addresses the task-space design prob- lem of a linear-quadratic optimal tracking controller for robotic manipulators using the unit dual quaternion formalism. The efficiency, compactness, and lack of singularity of the representation render the unit dual quaternion a suitable framework for simultaneously describing the attitude and the position of the end-effector. Motivated by the advantages of this kinematic description, we propose a new task-space linear- quadratic optimal tracking controller in order to find an optimal trajectory for the end-effector, providing a tool to balance more conveniently the end-effector error and its task- space velocity. This is possible because the kinematic control problem using the dual quaternion transformation invariant error can be reduced to an affine time-varying system. The proposed optimal tracking controller allows the compensation of trajectory induced disturbances, as well as other modeled additive disturbances and known bias. Simulation results with different design parameters provide a performance overview, in comparison with standard kinematic controllers with and without a feed-forward term, for tracking a desired reference.

@InProceedings{Mello2014a,
  author          = {Mello, Laysa Santos and Adorno, Bruno Vilhena and Raffo, Guilherme Vianna},
  title           = {{Whole-Body Modeling and Control of an Unmanned Aerial Manipulator}},
  booktitle       = {XII Simp{\'{o}}sio Brasileiro de Automa{\c{c}}{\~{a}}o Inteligente (SBAI)},
  year            = {2015},
  pages           = {969--974},
  address         = {Natal},
  __markedentry   = {[nml:6]},
  mendeley-groups = {Prestacao de contas/CNPq/MIT 88/2013,My{\_}papers/PQ2017,My{\_}papers/PQ2018,Prestacao de contas/PPP-Fapemig},
}

@InProceedings{Brito2015b,
  author          = {Brito, Rafael P and Savino, Heitor J and Adorno, Bruno V and Pimenta, Luciano C A},
  title           = {{Consenso utilizando a {\'{a}}lgebra de Quat{\'{e}}rnios Duais em sistemas compostos por manipuladores m{\'{o}}veis}},
  booktitle       = {XII Simp{\'{o}}sio Brasileiro de Automa{\c{c}}{\~{a}}o Inteligente (SBAI)},
  year            = {2015},
  pages           = {1907 -- 1912},
  __markedentry   = {[nml:6]},
  abstract        = {Resumo— Este artigo trata do problema de consenso entre m{\'{u}}ltiplos manipuladores m{\'{o}}veis. O sistema {\'{e}} modelado utilizando {\'{a}}lgebra de quat{\'{e}}rnios duais e dois casos s{\~{a}}o considerados: o problema de rendezvous e o de consenso na pose dos efetuadores dos manipuladores m{\'{o}}veis utilizando-se referenciais locais. Para o controle local dos manipuladores m{\'{o}}veis, utiliza-se uma abordagem de controle hier{\'{a}}rquico com duas tarefas executadas em diferentes n{\'{i}}veis de prioridade. A t{\'{e}}cnica proposta {\'{e}} avaliada em simula{\c{c}}{\~{a}}o, mostrando que o sistema fica est{\'{a}}vel quando o consenso {\'{e}} atingido. Palavras-chave— Quat{\'{e}}rnios duais, consenso, rendezvous, manipulador m{\'{o}}vel, controle de corpo completo. Abstract— This paper deals with the consensus problem of multiple mobile manipulators. The system is modeled by using dual quaternion algebra and two problems are considered: the rendezvous problem and the pose consensus of the end-effectors with local frames. In order to perform the local control of the mobile manipulators, a hierarchical approach is used such that two tasks are executed simultaneously with different priorities. The proposed technique is evaluated in simulation, which shows that the system stabilizes when the consensus is achieved.},
  mendeley-groups = {Prestacao de contas/CNPq/MIT 88/2013,My{\_}papers/PQ2017,My{\_}papers/PQ2018,Prestacao de contas/PPP-Fapemig},
}

Resumo— Este artigo trata do problema de consenso entre múltiplos manipuladores móveis. O sistema é modelado utilizando álgebra de quatérnios duais e dois casos são considerados: o problema de rendezvous e o de consenso na pose dos efetuadores dos manipuladores móveis utilizando-se referenciais locais. Para o controle local dos manipuladores móveis, utiliza-se uma abordagem de controle hierárquico com duas tarefas executadas em diferentes níveis de prioridade. A técnica proposta é avaliada em simulação, mostrando que o sistema fica estável quando o consenso é atingido. Palavras-chave— Quatérnios duais, consenso, rendezvous, manipulador móvel, controle de corpo completo. Abstract— This paper deals with the consensus problem of multiple mobile manipulators. The system is modeled by using dual quaternion algebra and two problems are considered: the rendezvous problem and the pose consensus of the end-effectors with local frames. In order to perform the local control of the mobile manipulators, a hierarchical approach is used such that two tasks are executed simultaneously with different priorities. The proposed technique is evaluated in simulation, which shows that the system stabilizes when the consensus is achieved.

@InProceedings{Oliveira2015a,
  author        = {Oliveira, Ana Christine and Adorno, Bruno Vilhena},
  title         = {{Balance Control of a Humanoid Robot Based on the Cooperative Dual Task-Space Framework}},
  booktitle     = {XII Simp{\'{o}}sio Brasileiro de Automa{\c{c}}{\~{a}}o Inteligente (SBAI)},
  year          = {2015},
  pages         = {485 -- 490},
  publisher     = {SBA},
  __markedentry = {[nml:6]},
  abstract      = {— This paper presents a technique for the modeling and balance control of humanoid robots based on dual quaternion algebra and the Cooperative Dual Task-Space Framework. A strategy for controlling the Center of Mass (CoM) position that takes into account the system's stability constraints is presented and validated in a realistic simulation. The results show that the presented control strategy is able to track a desired 3D trajectory for the CoM while ensuring the robot's balance, and may potentially be extended to perform bipedal locomotion. Keywords— Humanoid robots, Center of Mass (CoM), CoM control, Dual quaternion, Cooperative Dual Task-Space (CDTS). Resumo— Este artigo apresenta uma t{\'{e}}cnica de modelagem e controle de equil{\'{i}}brio de rob{\^{o}}s human{\'{o}}ides baseada na {\'{a}}lgebra de quat{\'{e}}rnios duais e no Espa{\c{c}}o de Coopera{\c{c}}{\~{a}}o Dual. Uma estrat{\'{e}}gia para controlar a posi{\c{c}}{\~{a}}o do Centro de Massa (CM), que leva em considera{\c{c}}{\~{a}}o as restri{\c{c}}{\~{o}}es de estabilidade do sistema, {\'{e}} apresentada e validada em um ambiente de simula{\c{c}}{\~{a}}o real{\'{i}}stico. Os resultados obtidos mostram que esta estrat{\'{e}}gia de controle {\'{e}} capaz de realizar o rastreamento de uma trajet{\'{o}}ria 3D desejada para o CM, enquanto garante o equil{\'{i}}brio do rob{\^{o}}, e pode, potencialmente, ser estendida para a locomo{\c{c}}{\~{a}}o de rob{\^{o}}s b{\'{i}}pedes. Palavras-chave— Rob{\^{o}}s human{\'{o}}ides, Centro de Massa, Controle do Centro de Massa, Quat{\'{e}}rnios duais, Espa{\c{c}}o de Coopera{\c{c}}{\~{a}}o Dual.},
  keywords      = {center of mass,com,com control,cooperative dual,dual quaternion,humanoid robots},
  url           = {http://swge.inf.br/SBAI2015/anais/139.pdf},
}

— This paper presents a technique for the modeling and balance control of humanoid robots based on dual quaternion algebra and the Cooperative Dual Task-Space Framework. A strategy for controlling the Center of Mass (CoM) position that takes into account the system's stability constraints is presented and validated in a realistic simulation. The results show that the presented control strategy is able to track a desired 3D trajectory for the CoM while ensuring the robot's balance, and may potentially be extended to perform bipedal locomotion. Keywords— Humanoid robots, Center of Mass (CoM), CoM control, Dual quaternion, Cooperative Dual Task-Space (CDTS). Resumo— Este artigo apresenta uma técnica de modelagem e controle de equilíbrio de robôs humanóides baseada na álgebra de quatérnios duais e no Espaço de Cooperação Dual. Uma estratégia para controlar a posição do Centro de Massa (CM), que leva em consideração as restrições de estabilidade do sistema, é apresentada e validada em um ambiente de simulação realístico. Os resultados obtidos mostram que esta estratégia de controle é capaz de realizar o rastreamento de uma trajetória 3D desejada para o CM, enquanto garante o equilíbrio do robô, e pode, potencialmente, ser estendida para a locomoção de robôs bípedes. Palavras-chave— Robôs humanóides, Centro de Massa, Controle do Centro de Massa, Quatérnios duais, Espaço de Cooperação Dual.

@InProceedings{Lana2015,
  author        = {Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Maia, Carlos Andrey},
  title         = {{A New Algebraic Approach for the Description of Robotic Manipulation Tasks}},
  booktitle     = {2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year          = {2015},
  pages         = {3083--3088},
  address       = {Seattle, Washington},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  isbn          = {9781479969227},
  keywords      = {Manipulation Planning,Planning,Scheduling and Coordination,Service Robots},
}

@Article{Adorno2015,
  author        = {Adorno, Bruno Vilhena and B{\'{o}}, a. P. L. and Fraisse, P.},
  title         = {{Kinematic modeling and control for human-robot cooperation considering different interaction roles}},
  journal       = {Robotica},
  year          = {2015},
  volume        = {33},
  number        = {2},
  pages         = {314--331},
  month         = {feb},
  issn          = {0263-5747},
  __markedentry = {[nml:6]},
  abstract      = {This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).},
  doi           = {10.1017/S0263574714000356},
  url           = {http://www.journals.cambridge.org/abstract{\_}S0263574714000356},
}

This paper presents a novel approach for the description of physical human-robot interaction (pHRI) tasks that involve two-arm coordination, and where tasks are described by the relative pose between the human hand and the robot hand. We develop a unified kinematic model that takes into account the human-robot system from a holistic point of view, and we also propose a kinematic control strategy for pHRI that comprises different levels of shared autonomy. Since the kinematic model takes into account the complete human-robot interaction system and the kinematic control law is closed loop at the interaction level, the kinematic constraints of the task are enforced during its execution. Experiments are performed in order to validate the proposed approach, including a particular case where the robot controls the human arm by means of functional electrical stimulation (FES), which may potentially provide useful solutions for the interaction between assistant robots and impaired individuals (e.g., quadriplegics and hemiplegics).

@article{Marinho2014,
abstract = {Background and aim: A 32-year-old woman presented with a 10-year history of left side ulcerative colitis treated only with oral and topic mesalazine until April 2006. Last relapse in April 2006 treated with 20 days topic methylprednisolone. No pancolonoscopy was performed before. Material and methods: A surveillance ileo-colonoscopy was performed without premedication using a pediatric colonoscope Fuji EC-250-MP-5. The cecum was reached without difficulties. The mucosa had sign of minimal active inflammation only in the rectum. Biopsy specimens were taken from the ileum to the distal rectum (4 for each segment) to evaluate the extension of disease and the presence of dysplasia. We used biopsy forceps with needle Olympus FB-24U-1 (2300 mm). Neither insertion of the colonoscope nor its withdrawal with sampling created any significant pain. At the end of colonoscopy the patient referred abdominal discomfort and was kept in observation for about 2 hours. The examination did not reveal clinical sign of perforation, hemodynamic parameters were normal and after application of rectal probe and rectal expulsion of air she referred improve of abdominal discomfort and was discharged. In the afternoon she experienced abdominal pain and growing of abdominal circumference; the physical examination revealed sign of acute abdomen and abdomen x-ray revealed a massive pneumoperitoneum. An immediate laparotomy was performed that did not reveal evident perforation; pneumatic evaluation with water revealed minimal loss of air in more than one site of biopsy, that was known because of presence of little hematomas in the colon wall. Defects were sutured and the patient's further hospital course was uneventful. Results: All biopsy showed severe mucosal atrophy with almost absent submucosa, and in more than one specimens were present also muscle of the muscularis propria. Conclusions: Biopsy-related perforation is a rare complication of colonoscopy with modern flexible colonoscope and small caliber biopsy forceps, nevertheless it cannot be totally excluded, particularly in a patient with clinical suspicion of severe mucosa atrophy like patient affected by ulcerative colitis even if without large use of corticosteroid therapy.},
author = {Marinho, Murilo M. and Bernardes, Mariana C. and Bo, Antonio P. L.},
doi = {10.1109/BIOROB.2014.6913799},
file = {:D$\backslash$:/murilo/Dropbox/artigos/Vers{\~{o}}es Publicadas/(2014) BIOROB.pdf:pdf},
isbn = {978-1-4799-3128-6},
issn = {2155-1774},
journal = {5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics},
pages = {339--344},
title = {{A programmable remote center-of-motion controller for minimally invasive surgery using the dual quaternion framework}},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6913799},
year = {2014}
}

Background and aim: A 32-year-old woman presented with a 10-year history of left side ulcerative colitis treated only with oral and topic mesalazine until April 2006. Last relapse in April 2006 treated with 20 days topic methylprednisolone. No pancolonoscopy was performed before. Material and methods: A surveillance ileo-colonoscopy was performed without premedication using a pediatric colonoscope Fuji EC-250-MP-5. The cecum was reached without difficulties. The mucosa had sign of minimal active inflammation only in the rectum. Biopsy specimens were taken from the ileum to the distal rectum (4 for each segment) to evaluate the extension of disease and the presence of dysplasia. We used biopsy forceps with needle Olympus FB-24U-1 (2300 mm). Neither insertion of the colonoscope nor its withdrawal with sampling created any significant pain. At the end of colonoscopy the patient referred abdominal discomfort and was kept in observation for about 2 hours. The examination did not reveal clinical sign of perforation, hemodynamic parameters were normal and after application of rectal probe and rectal expulsion of air she referred improve of abdominal discomfort and was discharged. In the afternoon she experienced abdominal pain and growing of abdominal circumference; the physical examination revealed sign of acute abdomen and abdomen x-ray revealed a massive pneumoperitoneum. An immediate laparotomy was performed that did not reveal evident perforation; pneumatic evaluation with water revealed minimal loss of air in more than one site of biopsy, that was known because of presence of little hematomas in the colon wall. Defects were sutured and the patient's further hospital course was uneventful. Results: All biopsy showed severe mucosal atrophy with almost absent submucosa, and in more than one specimens were present also muscle of the muscularis propria. Conclusions: Biopsy-related perforation is a rare complication of colonoscopy with modern flexible colonoscope and small caliber biopsy forceps, nevertheless it cannot be totally excluded, particularly in a patient with clinical suspicion of severe mucosa atrophy like patient affected by ulcerative colitis even if without large use of corticosteroid therapy.

@InProceedings{Lana2014,
  author        = {Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Maia, Carlos Andrey},
  title         = {{Descri{\c{c}}{\~{a}}o Geom{\'{e}}trica, Cinem{\'{a}}tica e de Esfor{\c{c}}os para Tarefas de Manipula{\c{c}}{\~{a}}o Usando Quat{\'{e}}rnios Duais}},
  booktitle     = {Congresso Brasileiro de Autom{\'{a}}tica},
  year          = {2014},
  pages         = {965--972},
  address       = {Belo Horizonte},
  __markedentry = {[nml:6]},
  keywords      = {dual quaternions,manipulation tasks,tff,twists,wrenches},
}

@InProceedings{Figueredo2014,
  author          = {Figueredo, L F C and Adorno, B V and Ishihara, J Y and Borges, G A},
  title           = {{Switching Strategy for Flexible Task Execution using the Cooperative Dual Task-Space Framework}},
  booktitle       = {IEEE/RSJ International Conference on Intelligent Robots and System (IROS'14)},
  year            = {2014},
  pages           = {1703--1709},
  address         = {Chicago},
  publisher       = {IEEE},
  __markedentry   = {[nml:6]},
  isbn            = {9781479969333},
  mendeley-groups = {My{\_}papers/PQ2017,My{\_}papers/PQ2018},
}

@InProceedings{Salazar-Sangucho2014,
  author        = {Salazar-Sangucho, Fredy Rolando and Adorno, Bruno Vilhena},
  title         = {{Modelagem e Controle de Corpo Completo Usando Quat{\'{e}}rnios Duais para um Manipulador M{\'{o}}vel}},
  booktitle     = {Anais do XX Congresso Brasileiro de Autom{\'{a}}tica},
  year          = {2014},
  pages         = {1544--1551},
  address       = {Belo Horizonte},
  publisher     = {SBA},
  __markedentry = {[nml:6]},
  url           = {http://www.swge.inf.br/cba2014/anais/PDF/1569934957.pdf},
}

@Article{Bernardes2014a,
  author        = {Bernardes, Mariana C. and Adorno, Bruno V. and Borges, Geovany A. and Poignet, Philippe},
  title         = {{3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation}},
  journal       = {Journal of Control, Automation and Electrical Systems},
  year          = {2014},
  volume        = {25},
  number        = {2},
  pages         = {216--227},
  month         = {jan},
  issn          = {2195-3880},
  __markedentry = {[nml:6]},
  doi           = {10.1007/s40313-013-0104-4},
  url           = {http://link.springer.com/10.1007/s40313-013-0104-4},
}

@inproceedings{Geraldes2013,
abstract = {Needle steering devices present great potential for improving the safety and accuracy of medical interventions with percutaneous access. Despite significant advances in the field, needle steerability remains an issue to be solved by the scientific community. In this paper, we propose the use of discrete steps in flexible needle insertion, inspired by the manual procedure performed by physicians. Conceptually, the method relies in alternating between two motions: grasp-push and release-retreat. For experimental evaluation, a modified gripper is used along with a 6DOF robotic manipulator to control needle insertion velocity, rotation and grasping. Preliminary results indicate that the use of discrete steps minimizes some negative effects, such as slippage and needle buckling, observed on alternative methods, while preserving their functional advantages.},
author = {Geraldes, Andre A. and Marinho, Murilo M. and Bernardes, Mariana C. and Bo, Antonio P. L. and Borges, Geovany A.},
booktitle = {2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)},
doi = {10.1109/EMBC.2013.6610638},
file = {:D$\backslash$:/murilo/Dropbox/artigos/Vers{\~{o}}es Publicadas/(2013) EMBC.pdf:pdf},
isbn = {978-1-4577-0216-7},
issn = {1557-170X},
month = {jul},
pages = {4867--4870},
publisher = {IEEE},
shorttitle = {Engineering in Medicine and Biology Society (EMBC)},
title = {{On the use of discrete steps in robot-aided flexible needle insertion}},
url = {http://ieeexplore.ieee.org/document/6610638/},
year = {2013}
}

Needle steering devices present great potential for improving the safety and accuracy of medical interventions with percutaneous access. Despite significant advances in the field, needle steerability remains an issue to be solved by the scientific community. In this paper, we propose the use of discrete steps in flexible needle insertion, inspired by the manual procedure performed by physicians. Conceptually, the method relies in alternating between two motions: grasp-push and release-retreat. For experimental evaluation, a modified gripper is used along with a 6DOF robotic manipulator to control needle insertion velocity, rotation and grasping. Preliminary results indicate that the use of discrete steps minimizes some negative effects, such as slippage and needle buckling, observed on alternative methods, while preserving their functional advantages.

@InProceedings{Figueredo2013,
  author        = {Figueredo, L.F.C. and Adorno, B.V. and Ishihara, J.Y. and Borges, G.a.},
  title         = {{Robust kinematic control of manipulator robots using dual quaternion representation}},
  booktitle     = {2013 IEEE International Conference on Robotics and Automation},
  year          = {2013},
  pages         = {1949--1955},
  month         = {may},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  abstract      = {This paper addresses the H∞ robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H∞ control criteria that ensure asymptotic convergence, whereas reducing the influence of disturbances upon the system stability. Also, with a new metric of dual quaternion error in SE(3) we prove independence from robot coordinate changes. Simulation results highlight the importance and effectiveness of the proposed approach in terms of performance, robustness, and energy efficiency.},
  doi           = {10.1109/ICRA.2013.6630836},
  isbn          = {978-1-4673-5643-5},
  issn          = {10504729},
  url           = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6630836 http://ieeexplore.ieee.org/document/6630836/},
}

This paper addresses the H∞ robust control problem for robot manipulators using unit dual quaternion representation, which allows an utter description of the end-effector transformation without decoupling rotational and translational dynamics. We propose three different H∞ control criteria that ensure asymptotic convergence, whereas reducing the influence of disturbances upon the system stability. Also, with a new metric of dual quaternion error in SE(3) we prove independence from robot coordinate changes. Simulation results highlight the importance and effectiveness of the proposed approach in terms of performance, robustness, and energy efficiency.

@Article{Bernardes2013,
  author        = {Bernardes, M.C. and Adorno, B.V. and Poignet, P. and Borges, G.A.},
  title         = {{Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning}},
  journal       = {Mechatronics},
  year          = {2013},
  volume        = {23},
  number        = {6},
  pages         = {630--645},
  month         = {sep},
  issn          = {09574158},
  __markedentry = {[nml:6]},
  doi           = {10.1016/j.mechatronics.2013.06.004},
  keywords      = {Needle,Robotics,Steering},
  publisher     = {Elsevier Ltd},
  url           = {http://linkinghub.elsevier.com/retrieve/pii/S0957415813001177},
}

@InProceedings{Marinho2013,
  author        = {Marinho, Murilo Marques and Adorno, Bruno Vilhena},
  title         = {{Design Of Singularity-robust and Task-priority Kinematic Controllers in the Unit Dual Quaternion Space}},
  booktitle     = {Anais do Simp{\'{o}}sio Brasileiro de Automa{\c{c}}{\~{a}}o Inteligente},
  year          = {2013},
  pages         = {1--6},
  address       = {Fortaleza},
  __markedentry = {[nml:6]},
  keywords      = {dual quaternions,kinematic control,openrave,robotic manipulator,ros},
}

@InProceedings{Lana2013c,
  author        = {Lana, Ernesto Pablo and Adorno, Bruno Vilhena and Tierra-Criollo, Carlos Julio},
  title         = {{Assistance Task Using a Manipulator Robot and User Kinematics Feedback}},
  booktitle     = {Anais do Simp{\'{o}}sio Brasileiro de Automa{\c{c}}{\~{a}}o Inteligente},
  year          = {2013},
  pages         = {1--6},
  address       = {Fortaleza},
  __markedentry = {[nml:6]},
  keywords      = {assistance task,dual quaternion algebra,human-robot interaction,jacobian-based control,task-priority control},
}

@inproceedings{Marinho2012,
author = {Marinho, Murilo M. and Geraldes, Andre a. and Bo, Antonio P. L. and Borges, Geovany a.},
booktitle = {2012 Brazilian Robotics Symposium and Latin American Robotics Symposium},
doi = {10.1109/SBR-LARS.2012.59},
file = {:C$\backslash$:/Users/nml/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Marinho et al. - 2012 - Manipulator Control Based on the Dual Quaternion Framework for Intuitive Teleoperation Using Kinect(2).pdf:pdf},
isbn = {978-0-7695-4906-4},
month = {oct},
pages = {319--324},
publisher = {IEEE},
title = {{Manipulator Control Based on the Dual Quaternion Framework for Intuitive Teleoperation Using Kinect}},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6363363 http://ieeexplore.ieee.org/document/6363363/},
year = {2012}
}

@InProceedings{Adorno2012,
  author        = {Adorno, Bruno Vilhena},
  title         = {{Manipula{\c{c}}{\~{a}}o Cooperativa Descentralizada Usando o Espa{\c{c}}o Dual de Coopera{\c{c}}{\~{a}}o}},
  booktitle     = {XIX Congresso Brasileiro de Autom{\'{a}}tica},
  year          = {2012},
  pages         = {1436--1443},
  address       = {Campina Grande},
  publisher     = {Sociedade Brasileira de Autom{\'{a}}tica},
  __markedentry = {[nml:6]},
  keywords      = {cooperative dual task-space,cooperative systems,dual quaternion,este artigo prop,kinematic control,ma-,multiarm manipulation,nipulator robots,resumo},
}

@InProceedings{Bernardes2012,
  author        = {Bernardes, Mariana Costa and Adorno, Bruno Vilhena and Poignet, Philippe and Borges, Geovany Ara{\'{u}}jo},
  title         = {{Semi-automatic needle steering system with robotic manipulator}},
  booktitle     = {Proceedings - IEEE International Conference on Robotics and Automation},
  year          = {2012},
  pages         = {1595--1600},
  address       = {Minnesota},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  abstract      = {This paper presents a semi-automatic system for robot-assisted 2D needle steering that uses duty-cycling to perform insertions with arcs of adjustable curvature radius. It combines image feedback manually provided by an operator with an adaptive path planning strategy to compensate for system uncertainties and changes in the workspace during the procedure. Experimental results are presented to validate the proposed platform.},
  doi           = {10.1109/ICRA.2012.6225185},
  isbn          = {9781467314039},
  issn          = {10504729},
  url           = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6225185},
}

This paper presents a semi-automatic system for robot-assisted 2D needle steering that uses duty-cycling to perform insertions with arcs of adjustable curvature radius. It combines image feedback manually provided by an operator with an adaptive path planning strategy to compensate for system uncertainties and changes in the workspace during the procedure. Experimental results are presented to validate the proposed platform.

@InProceedings{Adorno2011d,
  author        = {Adorno, Bruno Vilhena and Bo, Antonio Padilha Lanari and Fraisse, Philippe},
  title         = {{Interactive manipulation between a human and a humanoid: When robots control human arm motion}},
  booktitle     = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year          = {2011},
  pages         = {4658--4663},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/IROS.2011.6094869},
  isbn          = {978-1-61284-456-5},
  url           = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6094869},
}

@InProceedings{Bernardes2011b,
  author        = {Bernardes, Mariana C and Adorno, Bruno V and Poignet, Philippe and Zemiti, Nabil and Borges, Geovany A},
  title         = {{Adaptive path planning for steerable needles using duty-cycling}},
  booktitle     = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year          = {2011},
  pages         = {2545--2550},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/IROS.2011.6094594},
  isbn          = {978-1-61284-456-5},
  url           = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6094594},
}

@InProceedings{Bernardes2011,
  author        = {Bernardes, Mariana Costa and Adorno, Bruno Vilhena and Zemiti, Nabil and Poignet, Philippe and Borges, Geovany Ara{\'{u}}jo},
  title         = {{Path planning for steerable needles using duty-cycling}},
  booktitle     = {CARS 2011 Computer Assisted Radiology and Surgery},
  year          = {2011},
  pages         = {S293--S294},
  address       = {Berlin},
  publisher     = {Springer},
  __markedentry = {[nml:6]},
  doi           = {10.1007/s11548-011-0614-0},
}

@InProceedings{Adorno2011a,
  author        = {Adorno, Bruno Vilhena and B{\'{o}}, Ant{\^{o}}nio Padilha Lanari and Fraisse, Philippe and Poignet, Philippe},
  title         = {{Towards a cooperative framework for interactive manipulation involving a human and a humanoid}},
  booktitle     = {Proceedings - IEEE International Conference on Robotics and Automation},
  year          = {2011},
  pages         = {3777--3783},
  month         = {may},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  abstract      = {In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. The interaction is represented by means of the relative configuration between the human's and the robot's hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. We also introduce the concept of simultaneous handling using mirrored movements, where the human controls the robot and simultaneously interacts with it by means of a common manipulated object. Illustrative experiments are performed to validate the proposed techniques.},
  doi           = {10.1109/ICRA.2011.5979787},
  isbn          = {9781612843865},
  issn          = {10504729},
  url           = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=5979787},
}

In this paper we propose a novel approach for interactive manipulation involving a human and a humanoid. The interaction is represented by means of the relative configuration between the human's and the robot's hands. Based on this principle and a set of mathematical tools also proposed in the paper, a large set of tasks can be represented intuitively. We also introduce the concept of simultaneous handling using mirrored movements, where the human controls the robot and simultaneously interacts with it by means of a common manipulated object. Illustrative experiments are performed to validate the proposed techniques.

@InProceedings{Pham2010,
  author        = {Pham, Hoang-Lan and Perdereau, Veronique and Adorno, Bruno Vilhena and Fraisse, Philippe},
  title         = {{Position and orientation control of robot manipulators using dual quaternion feedback}},
  booktitle     = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year          = {2010},
  pages         = {658--663},
  address       = {Taipei},
  month         = {oct},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/IROS.2010.5651097},
  isbn          = {978-1-4244-6674-0},
}

@InProceedings{Adorno2010,
  author        = {Adorno, Bruno Vilhena and Fraisse, Philippe and Druon, Sébastien},
  title         = {{Dual position control strategies using the cooperative dual task-space framework}},
  booktitle     = {2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year          = {2010},
  pages         = {3955--3960},
  month         = {oct},
  publisher     = {IEEE},
  __markedentry = {[nml:6]},
  doi           = {10.1109/IROS.2010.5650218},
  isbn          = {978-1-4244-6674-0},
  url           = {http://ieeexplore.ieee.org/document/5650218/},
}