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L},\\r\\n  Booktitle                = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\\r\\n  Year                     = {2015},\\r\\n\\r\\n  Address                  = {Hamburg, Germany},\\r\\n  Month                    = {Sept},\\r\\n  Organization             = {IEEE},\\r\\n  Pages                    = {4244--4250},\\r\\n\\r\\n  Doi                      = {10.1109/IROS.2015.7353978},\\r\\n  Url_paper                = {http://zihanchen.com/assets/papers/IROS15VOZAR.pdf}\\r\\n}\\r\\n\\r\\n\",\"author_short\":[\"Vozar, S.\",\"Chen, Z.\",\"Kazanzides, P.\",\"Whitcomb, L. 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Y.\",\"Chen, Z.\",\"Deguet, A.\",\"Kazanzides, P.\"],\"key\":\"IROS2018WU\",\"id\":\"IROS2018WU\",\"bibbaseid\":\"wu-chen-deguet-kazanzides-fpgabasedvelocityestimationforcontrolofrobotswithlowresolutionencoders-2018\",\"role\":\"author\",\"urls\":{\" paper\":\"http://zihanchen.com/assets/papers/IROS18WUVelocity.pdf\"},\"metadata\":{\"authorlinks\":{\"chen, z\":\"https://zihanchen.com/publication/\"}},\"downloads\":1,\"html\":\"\"},{\"bibtype\":\"phdthesis\",\"type\":\"phdthesis\",\"author\":[{\"propositions\":[],\"lastnames\":[\"Chen\"],\"firstnames\":[\"Zihan\"],\"suffixes\":[]}],\"title\":\"A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-Autonomous Teleoperation\",\"school\":\"Johns Hopkins University\",\"year\":\"2017\",\"url_paper\":\"http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf\",\"bibtex\":\"@PhdThesis{,\\n  author    = {Chen, Zihan},\\n  title     = {A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-Autonomous Teleoperation},\\n  school    = {Johns Hopkins University},\\n  year      = {2017},\\n  url_paper = {http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf},\\n}\\n\\n\",\"author_short\":[\"Chen, Z.\"],\"key\":\"\",\"id\":\"\",\"bibbaseid\":\"chen-ascalablehighperformancerealtimecontrolarchitecturewithapplicationtosemiautonomousteleoperation-2017\",\"role\":\"author\",\"urls\":{\" paper\":\"http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf\"},\"metadata\":{\"authorlinks\":{\"chen, z\":\"https://zihanchen.com/publication/\"}},\"downloads\":2,\"html\":\"\"}],\n      metadata: {\"owner\":\"chen, z\",\"authorlinks\":{\"chen, z\":\"https://zihanchen.com/publication/\"}},\n      ownerID: \"cWvn6C7h82Po6sazy\"\n    };\n  </script>\n\n  <script type=\"text/javascript\">\n  var site$;\n  if (typeof $ != 'undefined') {\n    console.log('existing jquery: storing and then restoring');\n    site$ = $;\n    $ = null;\n  }\n  </script>\n\n  <script src=\"https://ajax.googleapis.com/ajax/libs/jquery/2.2.4/jquery.min.js\">\n  </script>\n  <script type=\"text/javascript\">\n  if (site$) {\n    console.log('existing jquery: avoiding conflict and restoring');\n    bb$ = $.noConflict(true);\n    $ = site$;\n  } else {\n    bb$ = $;\n  }\n  </script>\n\n  <script src=\"//bibbase.org/js/bibbase.min.js\"\n          type=\"text/javascript\">\n  </script>\n\n  <script type=\"text/javascript\"\n          src=\"https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.1/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\n  </script>\n  <script type=\"text/x-mathjax-config\">\n    MathJax.Hub.Config({tex2jax: {inlineMath: [['$','$'], ['\\\\(','\\\\)']]},\n                        skipTags: [\"body\"],\n                        processClass: \"bibbase_paper\"});\n  </script>\n\n  <style>\n  @media print {\n    .dontprint {\n        display: none !important;\n    }\n\n  .bibbase_group {\n    background-color: #E0E0E0;\n    font-style: italic;\n    font-size: larger;\n    text-shadow: 0px 0px 3px #FFFFFF;\n    border-radius: 4px 4px 4px 4px;\n    -moz-border-radius: 4px 4px 4px 4px;\n    -webkit-border-radius: 4px;\n    padding: 5px 40px 5px;\n    margin-top: 10px;\n    margin-bottom: 5px;\n    cursor: pointer;\n  }\n\n  .bibbase_paper {\n    margin-bottom: 5px;\n  }\n\n  }\n  </style>\n\n  \n  <div style=\"float: right; margin-right: 10px; margin-top: 10px; text-align: right; font-size: 12px\">\n    generated by\n    <a href=\"//bibbase.org\"\n       onclick=\"trackOutboundLink('bibbase', 'logo clicked', window.location.href, '//bibbase.org'); return false;\">\n      <img src=\"//bibbase.org/img/logo.svg\"\n           style=\"vertical-align: middle; margin-left: 3px; height: 16px;\"/\n           alt=\"bibbase.org\"\n           title=\"BibBase – The easiest way to maintain your publications page.\"\n        ></a>\n    \n  </div>\n  \n\n  <div id=\"bibbase_header\" class=\"dontprint\" style=\"\">\n\n    <ul class=\"nav nav-pills\" style=\"margin: 0px;\">\n\n      <li class=\"dropdown\" id=\"groupby_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\">\n          Group by\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li class=\"groupby year\"><a onclick=\"groupby('year')\">\n            Year</a>\n        </li>\n        <li class=\"groupby author\"><a onclick=\"groupby('author_short')\">\n            Author</a>\n        </li>\n        <li class=\"groupby type\"><a onclick=\"groupby('type')\">\n            Type</a>\n        </li>\n        <li class=\"groupby keyword\"><a onclick=\"groupby('keyword')\">\n            Keyword</a>\n        </li>\n        <li class=\"groupby downloads\"><a onclick=\"groupby('downloads')\">\n            Downloads</a>\n        </li>\n      </ul>\n      </li>\n\n\n      <li class=\"dropdown\" id=\"menu_dropdown\">\n      <a class=\"dropdown-toggle\"\n         data-toggle=\"dropdown\"\n         href=\"#\" alt=\"controls\">\n          <i class=\"fa fa-reorder\" alt=\"controls\"></i>\n          <b class=\"caret\"></b>\n      </a>\n      <ul class=\"dropdown-menu\">\n        <li>\n          <a onclick=\"toggleAll()\">\n            <i class=\"fa fa-chevron-down fa-fw\"></i> Expand/Collapse All\n          </a>\n        </li>\n        <li>\n          <a download=\"references.bib\" href=\"data:text/bibtex;base64,@InProceedings{MICCAI13WS,
  Title                    = {An open-source hardware and software platform for telesurgical robotics research},
  Author                   = {Chen, Zihan and Deguet, Anton and Taylor, Russell and DiMaio, Simon and Fischer, Gregory and Kazanzides, Peter},
  Booktitle                = {Proceedings of the MICCAI Workshop on Systems and Architecture for Computer Assisted Interventions, Nagoya, Japan},
  Year                     = {2013},
  Month                    = {Aug},
  Pages                    = {22--26},

  HowPublished             = {\url{http://hdl.handle.net/10380/3419}},
  Url_link                 = {http://zihanchen.com/miccai13},
  Url_paper                = {http://zihanchen.com/assets/papers/MICCAI13WSCHEN.pdf}
}



@InProceedings{IRC17CHEN,
  Title                    = {Software Architecture of the da Vinci Research Kit},
  Author                   = {Chen, Zihan and Deguet, Anton and Taylor, Russell and Kazanzides, Peter},
  Booktitle                = {The First IEEE International Conference on Robotic Computing, Taichung, Taiwan},
  Year                     = {2017},
  Month                    = {April},
  Pages                    = {180-187},

  Doi                      = {10.1109/IRC.2017.69},
  Url_link                 = {http://ieeexplore.ieee.org/abstract/document/7926536/},
  Url_paper                = {http://zihanchen.com/assets/papers/IRC17CHEN.pdf}
}



@InProceedings{ICRA15WS,
  Title                    = {Interfacing the da Vinci Research Kit (dVRK) with the Robot Operating System (ROS)},
  Author                   = {Chen, Zihan and Deguet, Anton and Vozar, Steve and Munawar, Adnan and Fischer, Gregory and Kazanzides, Peter},
  Booktitle                = {Proceedings of the ICRA Workshop on Shared Frameworks for Medical Robotics Research},
  Year                     = {2015},

  Address                  = {Seattle, USA},
  Month                    = {May},

  Url_link                 = {http://research.intusurg.com/workshops/icra-2015},
  Url_paper                = {http://zihanchen.com/assets/papers/ICRA15WS.pdf}
}



@InProceedings{TePRA14FW,
  Title                    = {Multi-kilohertz control of multiple robots via IEEE-1394 (firewire)},
  Author                   = {Chen, Zihan and Kazanzides, Peter},
  Booktitle                = {2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},
  Year                     = {2014},
  Month                    = {April},
  Organization             = {IEEE},
  Pages                    = {1--6},

  Doi                      = {10.1109/TePRA.2014.6869144},
  Url_link                 = {http://zihanchen.com/tepra14},
  Url_paper                = {http://zihanchen.com/assets/papers/TEPRA14CHEN.pdf}
}



@InProceedings{IROS13Force,
  Title                    = {Force control of a non-backdrivable robot without a force sensor},
  Author                   = {Chen, Zihan and Kazanzides, Peter},
  Booktitle                = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  Year                     = {2013},

  Address                  = {Tokyo, Japan},
  Month                    = {Nov},
  Organization             = {IEEE},
  Pages                    = {3570--3575},

  Doi                      = {10.1109/IROS.2013.6696865},
  Url_link                 = {http://zihanchen.com/iros13},
  Url_paper                = {http://zihanchen.com/assets/papers/IROS13CHEN.pdf}
}



@InProceedings{IROS16VF,
  Title                    = {Virtual Fixture Assistance for Needle Passing and Knot Tying},
  Author                   = {Chen, Zihan and Malpani, Anand and Chalasani, Preetham and Deguet, Anton and 
Vedula, S. Swaroop Vedula and Taylor, Russell H. and Kazanzides, Peter},
  Booktitle                = {2016 IEEE International Conference on Intelligent Robots and Systems (IROS)},
  Year                     = {2016},
  Organization             = {IEEE},
  Pages                    = {2343--2350},

  Url_link                 = {http://zihanchen.com/iros16},
  Url_paper                = {http://zihanchen.com/assets/papers/IROS16CHEN.pdf}
}



@InProceedings{ICRA14PKAZ,
  Title                    = {An Open-Source Research Kit for the {da Vinci}\textregistered~Surgical System},
  Author                   = {Peter Kazanzides and Zihan Chen and Anton Deguet and Fischer, Gregory S. and Taylor, Russell H. and DiMaio, Simon P.},
  Booktitle                = {2014 IEEE International Conference on Robotics and Automation (ICRA)},
  Year                     = {2014},

  Address                  = {Hong Kong, China},
  Month                    = {May},
  Pages                    = {6434-6439},

  Doi                      = {10.1109/ICRA.2014.6907809},
  ISSN                     = {1050-4729},
  Url_paper                = {http://zihanchen.com/assets/papers/ICRA14PKAZ.pdf}
}



@Article{MODULAR15PKAZ,
  Title                    = {Modular Interoperability in Surgical Robotics Software},
  Author                   = {Kazanzides, Peter and Deguet, Anton and Vacvolgyi, Balazs and Chen, Zihan and Taylor, Russell H},
  Journal                  = {Mechanical Engineering},
  Year                     = {2015},

  Month                    = {09},
  Number                   = {9},
  Pages                    = {S19-S22},
  Volume                   = {137},

  Publisher                = {American Society of Mechanical Engineers},
  Url_link                 = {http://search.proquest.com/docview/1709807575?accountid=11752},
  Url_paper                = {http://zihanchen.com/assets/papers/MODULAR15PKAZ.pdf}
}



@Article{WANG2017,
  Title                    = {Force-Controlled Exploration for Updating Virtual Fixture Geometry In Model-Mediated Telemanipulation},
  Author                   = {Long Wang, Zihan Chen, Preetham Chalasani, Rashid Yasin, Peter Kazanzides, Russell H. Taylor and Nabil Simaan},
  Journal                  = {Journal of Mechanisms and Robotics},
  Year                     = {2017},
  Volume                   = {9},
  Number                   = {2},
  Pages                    = {021010},  
  Publisher                = {American Society of Mechanical Engineers},
  Doi                      = {10.1115/1.4035684},
  Url_link                 = {http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2597974},
  Url_paper                = {http://zihanchen.com/assets/papers/JMR17WANG.pdf}
}





@InProceedings{ETFA15Eth1394,
  Title                    = {An Ethernet to FireWire bridge for real-time control of the da Vinci Research Kit (dVRK)},
  Author                   = {Qian, Long and Chen, Zihan and Kazanzides, Peter},
  Booktitle                = {2015 IEEE 20th Conference on Emerging Technologies \& Factory Automation (ETFA)},
  Year                     = {2015},
  Organization             = {IEEE},
  Pages                    = {1--7},

  Doi                      = {10.1109/ETFA.2015.7301489},
  Url_paper                = {http://zihanchen.com/assets/papers/ETFA15LONG.pdf}
}



@InProceedings{IROS17VR,
  Title                    = {Augmented Virtuality for Model-Based Teleoperation},
  Author                   = {Vagvolgyi, Balazs and Niu, Wenlong and Chen, Zihan and Wilkening, Paul and Kazanzides, Peter},
  Booktitle                = {2017 IEEE International Conference on Intelligent Robots and Systems (IROS)},
  Year                     = {2017},
  Organization             = {IEEE}
}



@InProceedings{IROS15Vozar,
  Title                    = {Preliminary Study of Virtual Nonholonomic Constraints for Time-Delayed Teleoperation},
  Author                   = {Vozar, Steve and Chen, Zihan and Kazanzides, Peter and Whitcomb, Louis L},
  Booktitle                = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  Year                     = {2015},

  Address                  = {Hamburg, Germany},
  Month                    = {Sept},
  Organization             = {IEEE},
  Pages                    = {4244--4250},

  Doi                      = {10.1109/IROS.2015.7353978},
  Url_paper                = {http://zihanchen.com/assets/papers/IROS15VOZAR.pdf}
}



@InProceedings{IDETC16,
  Title                    = {Updating Virtual Fixtures from Exploration Data in Force-Controlled Model-Based Telemanipulation},
  Author                   = {Wang, Long and Chen, Zihan and Chalasani, Preetham and Pile, Jason and Kazanzides, Peter and Taylor, Russell H. and Simaan, Nabil},
  Booktitle                = {International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC)},
  Year                     = {2016},

  Address                  = {Charlotte, USA},
  Organization             = {ASME},

  Url_paper                = {http://zihanchen.com/assets/papers/IDETC16WANG.pdf}
}



@InProceedings{IROS2018WU,
  author    = {Jie Ying Wu and Zihan Chen and Anton Deguet and Peter Kazanzides},
  title     = {{FPGA}-Based Velocity Estimation for Control of Robots with Low-Resolution Encoders},
  booktitle = {2018 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
  year      = {2018},
  month     = oct,
  publisher = {{IEEE}},
  doi       = {https://doi.org/10.1109/IROS.2018.8594139},
  url_paper = {http://zihanchen.com/assets/papers/IROS18WUVelocity.pdf},
}



@PhdThesis{,
  author    = {Chen, Zihan},
  title     = {A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-Autonomous Teleoperation},
  school    = {Johns Hopkins University},
  year      = {2017},
  url_paper = {http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf},
}

\">\n            <i class=\"fa fa-download fa-fw\"></i> Download BibTeX\n          </a>\n        </li>\n        <li>\n          <a href=\"//bibbase.org/rss?bib=http://zihanchen.com/assets/bibliography/references.bib\">\n            <i class=\"fa fa-rss fa-fw\"></i> RSS Feed\n          </a>\n          </li>\n      </ul>\n      </li>\n\n      \n\n\n      \n    </ul>\n\n\n    <div class=\"alert alert-success bibbase_msg\" id=\"bibbase_msg_embed\"\n         style=\"display: none;\">\n\n      Excellent! 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In order to keep using Mendeley with BibBase past April\n        14th, you need to:\n        <ol>\n          <li>renew the authorization for BibBase on Mendeley, and</li>\n          <li>update the BibBase URL\n            in your page the same way you did when you initially set up\n            this page.\n          </li>\n        </ol>\n      </p>\n\n      <p>\n        <a href=\"http://bibbase.org/cgi-bin/mendeley2/get.py\">\n          <i class=\"fa fa-angle-double-right\"></i>\n          Fix it now</a>\n      </p>\n    </div>\n\n  </div>\n\n\n  <div id=\"bibbase_body\">\n    \n  \n  <div class=\"bibbase_group_whole\" id=\"group_2018\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2018')\"\n      onkeypress=\"toggleGroup('group_2018')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2018</span>\n      <span class=\"bibbase_group_count\">\n        \n        (1)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"wu-chen-deguet-kazanzides-fpgabasedvelocityestimationforcontrolofrobotswithlowresolutionencoders-2018\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/IROS18WUVelocity.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wu-chen-deguet-kazanzides-fpgabasedvelocityestimationforcontrolofrobotswithlowresolutionencoders-2018', 'http://zihanchen.com/assets/papers/IROS18WUVelocity.pdf', event);\">\n    FPGA-Based Velocity Estimation for Control of Robots with Low-Resolution Encoders.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wu, J. Y.; <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Deguet, A.;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, October 2018. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/assets/papers/IROS18WUVelocity.pdf\"\n     onclick=\"log_download('wu-chen-deguet-kazanzides-fpgabasedvelocityestimationforcontrolofrobotswithlowresolutionencoders-2018', 'http://zihanchen.com/assets/papers/IROS18WUVelocity.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"FPGA-Based Velocity Estimation for Control of Robots with Low-Resolution Encoders [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/https://doi.org/10.1109/IROS.2018.8594139\"\n     onclick=\"log_download('wu-chen-deguet-kazanzides-fpgabasedvelocityestimationforcontrolofrobotswithlowresolutionencoders-2018', 'http://doi.org/https://doi.org/10.1109/IROS.2018.8594139', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wu-chen-deguet-kazanzides-fpgabasedvelocityestimationforcontrolofrobotswithlowresolutionencoders-2018\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wu-chen-deguet-kazanzides-fpgabasedvelocityestimationforcontrolofrobotswithlowresolutionencoders-2018')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{IROS2018WU,\n  author    = {Jie Ying Wu and Zihan Chen and Anton Deguet and Peter Kazanzides},\n  title     = {{FPGA}-Based Velocity Estimation for Control of Robots with Low-Resolution Encoders},\n  booktitle = {2018 {IEEE}/{RSJ} International Conference on Intelligent Robots and Systems ({IROS})},\n  year      = {2018},\n  month     = oct,\n  publisher = {{IEEE}},\n  doi       = {https://doi.org/10.1109/IROS.2018.8594139},\n  url_paper = {http://zihanchen.com/assets/papers/IROS18WUVelocity.pdf},\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2017\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2017')\"\n      onkeypress=\"toggleGroup('group_2017')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2017</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"chen-deguet-taylor-kazanzides-softwarearchitectureofthedavinciresearchkit-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/IRC17CHEN.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-deguet-taylor-kazanzides-softwarearchitectureofthedavinciresearchkit-2017', 'http://zihanchen.com/assets/papers/IRC17CHEN.pdf', event);\">\n    Software Architecture of the da Vinci Research Kit.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Deguet, A.; Taylor, R.;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>The First IEEE International Conference on Robotic Computing, Taichung, Taiwan</i>, pages 180-187, April 2017. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://ieeexplore.ieee.org/abstract/document/7926536/\"\n     onclick=\"log_download('chen-deguet-taylor-kazanzides-softwarearchitectureofthedavinciresearchkit-2017', 'http://ieeexplore.ieee.org/abstract/document/7926536/', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Software Architecture of the da Vinci Research Kit [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n  <a href=\"http://zihanchen.com/assets/papers/IRC17CHEN.pdf\"\n     onclick=\"log_download('chen-deguet-taylor-kazanzides-softwarearchitectureofthedavinciresearchkit-2017', 'http://zihanchen.com/assets/papers/IRC17CHEN.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Software Architecture of the da Vinci Research Kit [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IRC.2017.69\"\n     onclick=\"log_download('chen-deguet-taylor-kazanzides-softwarearchitectureofthedavinciresearchkit-2017', 'http://doi.org/10.1109/IRC.2017.69', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-deguet-taylor-kazanzides-softwarearchitectureofthedavinciresearchkit-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-deguet-taylor-kazanzides-softwarearchitectureofthedavinciresearchkit-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{IRC17CHEN,\r\n  Title                    = {Software Architecture of the da Vinci Research Kit},\r\n  Author                   = {Chen, Zihan and Deguet, Anton and Taylor, Russell and Kazanzides, Peter},\r\n  Booktitle                = {The First IEEE International Conference on Robotic Computing, Taichung, Taiwan},\r\n  Year                     = {2017},\r\n  Month                    = {April},\r\n  Pages                    = {180-187},\r\n\r\n  Doi                      = {10.1109/IRC.2017.69},\r\n  Url_link                 = {http://ieeexplore.ieee.org/abstract/document/7926536/},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/IRC17CHEN.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"longwang-simaan-forcecontrolledexplorationforupdatingvirtualfixturegeometryinmodelmediatedtelemanipulation-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/JMR17WANG.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'longwang-simaan-forcecontrolledexplorationforupdatingvirtualfixturegeometryinmodelmediatedtelemanipulation-2017', 'http://zihanchen.com/assets/papers/JMR17WANG.pdf', event);\">\n    Force-Controlled Exploration for Updating Virtual Fixture Geometry In Model-Mediated Telemanipulation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Long Wang, Z. C.;  and Simaan, N.\n</span>\n\n  \n\n</span>\n\n  <i>Journal of Mechanisms and Robotics</i>, 9(2): 021010.  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2597974\"\n     onclick=\"log_download('longwang-simaan-forcecontrolledexplorationforupdatingvirtualfixturegeometryinmodelmediatedtelemanipulation-2017', 'http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2597974', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Force-Controlled Exploration for Updating Virtual Fixture Geometry In Model-Mediated Telemanipulation [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n  <a href=\"http://zihanchen.com/assets/papers/JMR17WANG.pdf\"\n     onclick=\"log_download('longwang-simaan-forcecontrolledexplorationforupdatingvirtualfixturegeometryinmodelmediatedtelemanipulation-2017', 'http://zihanchen.com/assets/papers/JMR17WANG.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Force-Controlled Exploration for Updating Virtual Fixture Geometry In Model-Mediated Telemanipulation [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1115/1.4035684\"\n     onclick=\"log_download('longwang-simaan-forcecontrolledexplorationforupdatingvirtualfixturegeometryinmodelmediatedtelemanipulation-2017', 'http://doi.org/10.1115/1.4035684', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/longwang-simaan-forcecontrolledexplorationforupdatingvirtualfixturegeometryinmodelmediatedtelemanipulation-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('longwang-simaan-forcecontrolledexplorationforupdatingvirtualfixturegeometryinmodelmediatedtelemanipulation-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Article{WANG2017,\r\n  Title                    = {Force-Controlled Exploration for Updating Virtual Fixture Geometry In Model-Mediated Telemanipulation},\r\n  Author                   = {Long Wang, Zihan Chen, Preetham Chalasani, Rashid Yasin, Peter Kazanzides, Russell H. Taylor and Nabil Simaan},\r\n  Journal                  = {Journal of Mechanisms and Robotics},\r\n  Year                     = {2017},\r\n  Volume                   = {9},\r\n  Number                   = {2},\r\n  Pages                    = {021010},  \r\n  Publisher                = {American Society of Mechanical Engineers},\r\n  Doi                      = {10.1115/1.4035684},\r\n  Url_link                 = {http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2597974},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/JMR17WANG.pdf}\r\n}\r\n\r\n\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vagvolgyi-niu-chen-wilkening-kazanzides-augmentedvirtualityformodelbasedteleoperation-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  Augmented Virtuality for Model-Based Teleoperation.\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Vagvolgyi, B.; Niu, W.; <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Wilkening, P.;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>2017 IEEE International Conference on Intelligent Robots and Systems (IROS)</i>,  2017. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vagvolgyi-niu-chen-wilkening-kazanzides-augmentedvirtualityformodelbasedteleoperation-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vagvolgyi-niu-chen-wilkening-kazanzides-augmentedvirtualityformodelbasedteleoperation-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{IROS17VR,\r\n  Title                    = {Augmented Virtuality for Model-Based Teleoperation},\r\n  Author                   = {Vagvolgyi, Balazs and Niu, Wenlong and Chen, Zihan and Wilkening, Paul and Kazanzides, Peter},\r\n  Booktitle                = {2017 IEEE International Conference on Intelligent Robots and Systems (IROS)},\r\n  Year                     = {2017},\r\n  Organization             = {IEEE}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-ascalablehighperformancerealtimecontrolarchitecturewithapplicationtosemiautonomousteleoperation-2017\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-ascalablehighperformancerealtimecontrolarchitecturewithapplicationtosemiautonomousteleoperation-2017', 'http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf', event);\">\n    A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-Autonomous Teleoperation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>\n</span>\n\n  \n\n</span>\n\n  Ph.D. Thesis, Johns Hopkins University,  2017.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf\"\n     onclick=\"log_download('chen-ascalablehighperformancerealtimecontrolarchitecturewithapplicationtosemiautonomousteleoperation-2017', 'http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-Autonomous Teleoperation [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-ascalablehighperformancerealtimecontrolarchitecturewithapplicationtosemiautonomousteleoperation-2017\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>2 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-ascalablehighperformancerealtimecontrolarchitecturewithapplicationtosemiautonomousteleoperation-2017')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@PhdThesis{,\n  author    = {Chen, Zihan},\n  title     = {A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-Autonomous Teleoperation},\n  school    = {Johns Hopkins University},\n  year      = {2017},\n  url_paper = {http://zihanchen.com/assets/papers/DISSERTATION2017CHEN.pdf},\n}\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2016\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2016')\"\n      onkeypress=\"toggleGroup('group_2016')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2016</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"chen-malpani-chalasani-deguet-vedula-taylor-kazanzides-virtualfixtureassistanceforneedlepassingandknottying-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/IROS16CHEN.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-malpani-chalasani-deguet-vedula-taylor-kazanzides-virtualfixtureassistanceforneedlepassingandknottying-2016', 'http://zihanchen.com/assets/papers/IROS16CHEN.pdf', event);\">\n    Virtual Fixture Assistance for Needle Passing and Knot Tying.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Malpani, A.; Chalasani, P.; Deguet, A.; Vedula, S. S. V.; Taylor, R. H.;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>2016 IEEE International Conference on Intelligent Robots and Systems (IROS)</i>, pages 2343–2350,  2016. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/iros16\"\n     onclick=\"log_download('chen-malpani-chalasani-deguet-vedula-taylor-kazanzides-virtualfixtureassistanceforneedlepassingandknottying-2016', 'http://zihanchen.com/iros16', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Virtual Fixture Assistance for Needle Passing and Knot Tying [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n  <a href=\"http://zihanchen.com/assets/papers/IROS16CHEN.pdf\"\n     onclick=\"log_download('chen-malpani-chalasani-deguet-vedula-taylor-kazanzides-virtualfixtureassistanceforneedlepassingandknottying-2016', 'http://zihanchen.com/assets/papers/IROS16CHEN.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Virtual Fixture Assistance for Needle Passing and Knot Tying [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-malpani-chalasani-deguet-vedula-taylor-kazanzides-virtualfixtureassistanceforneedlepassingandknottying-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-malpani-chalasani-deguet-vedula-taylor-kazanzides-virtualfixtureassistanceforneedlepassingandknottying-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{IROS16VF,\r\n  Title                    = {Virtual Fixture Assistance for Needle Passing and Knot Tying},\r\n  Author                   = {Chen, Zihan and Malpani, Anand and Chalasani, Preetham and Deguet, Anton and \r\nVedula, S. Swaroop Vedula and Taylor, Russell H. and Kazanzides, Peter},\r\n  Booktitle                = {2016 IEEE International Conference on Intelligent Robots and Systems (IROS)},\r\n  Year                     = {2016},\r\n  Organization             = {IEEE},\r\n  Pages                    = {2343--2350},\r\n\r\n  Url_link                 = {http://zihanchen.com/iros16},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/IROS16CHEN.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"wang-chen-chalasani-pile-kazanzides-taylor-simaan-updatingvirtualfixturesfromexplorationdatainforcecontrolledmodelbasedtelemanipulation-2016\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/IDETC16WANG.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'wang-chen-chalasani-pile-kazanzides-taylor-simaan-updatingvirtualfixturesfromexplorationdatainforcecontrolledmodelbasedtelemanipulation-2016', 'http://zihanchen.com/assets/papers/IDETC16WANG.pdf', event);\">\n    Updating Virtual Fixtures from Exploration Data in Force-Controlled Model-Based Telemanipulation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Wang, L.; <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Chalasani, P.; Pile, J.; Kazanzides, P.; Taylor, R. H.;  and Simaan, N.\n</span>\n\n  \n\n</span>\n\n  In <i>International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC)</i>, Charlotte, USA,  2016. ASME\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/assets/papers/IDETC16WANG.pdf\"\n     onclick=\"log_download('wang-chen-chalasani-pile-kazanzides-taylor-simaan-updatingvirtualfixturesfromexplorationdatainforcecontrolledmodelbasedtelemanipulation-2016', 'http://zihanchen.com/assets/papers/IDETC16WANG.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Updating Virtual Fixtures from Exploration Data in Force-Controlled Model-Based Telemanipulation [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/wang-chen-chalasani-pile-kazanzides-taylor-simaan-updatingvirtualfixturesfromexplorationdatainforcecontrolledmodelbasedtelemanipulation-2016\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('wang-chen-chalasani-pile-kazanzides-taylor-simaan-updatingvirtualfixturesfromexplorationdatainforcecontrolledmodelbasedtelemanipulation-2016')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{IDETC16,\r\n  Title                    = {Updating Virtual Fixtures from Exploration Data in Force-Controlled Model-Based Telemanipulation},\r\n  Author                   = {Wang, Long and Chen, Zihan and Chalasani, Preetham and Pile, Jason and Kazanzides, Peter and Taylor, Russell H. and Simaan, Nabil},\r\n  Booktitle                = {International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC)},\r\n  Year                     = {2016},\r\n\r\n  Address                  = {Charlotte, USA},\r\n  Organization             = {ASME},\r\n\r\n  Url_paper                = {http://zihanchen.com/assets/papers/IDETC16WANG.pdf}\r\n}\r\n\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2015\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2015')\"\n      onkeypress=\"toggleGroup('group_2015')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2015</span>\n      <span class=\"bibbase_group_count\">\n        \n        (4)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"chen-deguet-vozar-munawar-fischer-kazanzides-interfacingthedavinciresearchkitdvrkwiththerobotoperatingsystemros-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/ICRA15WS.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-deguet-vozar-munawar-fischer-kazanzides-interfacingthedavinciresearchkitdvrkwiththerobotoperatingsystemros-2015', 'http://zihanchen.com/assets/papers/ICRA15WS.pdf', event);\">\n    Interfacing the da Vinci Research Kit (dVRK) with the Robot Operating System (ROS).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Deguet, A.; Vozar, S.; Munawar, A.; Fischer, G.;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the ICRA Workshop on Shared Frameworks for Medical Robotics Research</i>, Seattle, USA, May 2015. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://research.intusurg.com/workshops/icra-2015\"\n     onclick=\"log_download('chen-deguet-vozar-munawar-fischer-kazanzides-interfacingthedavinciresearchkitdvrkwiththerobotoperatingsystemros-2015', 'http://research.intusurg.com/workshops/icra-2015', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Interfacing the da Vinci Research Kit (dVRK) with the Robot Operating System (ROS) [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n  <a href=\"http://zihanchen.com/assets/papers/ICRA15WS.pdf\"\n     onclick=\"log_download('chen-deguet-vozar-munawar-fischer-kazanzides-interfacingthedavinciresearchkitdvrkwiththerobotoperatingsystemros-2015', 'http://zihanchen.com/assets/papers/ICRA15WS.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Interfacing the da Vinci Research Kit (dVRK) with the Robot Operating System (ROS) [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-deguet-vozar-munawar-fischer-kazanzides-interfacingthedavinciresearchkitdvrkwiththerobotoperatingsystemros-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>3 downloads</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-deguet-vozar-munawar-fischer-kazanzides-interfacingthedavinciresearchkitdvrkwiththerobotoperatingsystemros-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{ICRA15WS,\r\n  Title                    = {Interfacing the da Vinci Research Kit (dVRK) with the Robot Operating System (ROS)},\r\n  Author                   = {Chen, Zihan and Deguet, Anton and Vozar, Steve and Munawar, Adnan and Fischer, Gregory and Kazanzides, Peter},\r\n  Booktitle                = {Proceedings of the ICRA Workshop on Shared Frameworks for Medical Robotics Research},\r\n  Year                     = {2015},\r\n\r\n  Address                  = {Seattle, USA},\r\n  Month                    = {May},\r\n\r\n  Url_link                 = {http://research.intusurg.com/workshops/icra-2015},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/ICRA15WS.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kazanzides-deguet-vacvolgyi-chen-taylor-modularinteroperabilityinsurgicalroboticssoftware-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/MODULAR15PKAZ.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kazanzides-deguet-vacvolgyi-chen-taylor-modularinteroperabilityinsurgicalroboticssoftware-2015', 'http://zihanchen.com/assets/papers/MODULAR15PKAZ.pdf', event);\">\n    Modular Interoperability in Surgical Robotics Software.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kazanzides, P.; Deguet, A.; Vacvolgyi, B.; <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>;  and Taylor, R. H\n</span>\n\n  \n\n</span>\n\n  <i>Mechanical Engineering</i>, 137(9): S19-S22. 09 2015.\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://search.proquest.com/docview/1709807575?accountid=11752\"\n     onclick=\"log_download('kazanzides-deguet-vacvolgyi-chen-taylor-modularinteroperabilityinsurgicalroboticssoftware-2015', 'http://search.proquest.com/docview/1709807575?accountid=11752', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Modular Interoperability in Surgical Robotics Software [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n  <a href=\"http://zihanchen.com/assets/papers/MODULAR15PKAZ.pdf\"\n     onclick=\"log_download('kazanzides-deguet-vacvolgyi-chen-taylor-modularinteroperabilityinsurgicalroboticssoftware-2015', 'http://zihanchen.com/assets/papers/MODULAR15PKAZ.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Modular Interoperability in Surgical Robotics Software [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kazanzides-deguet-vacvolgyi-chen-taylor-modularinteroperabilityinsurgicalroboticssoftware-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kazanzides-deguet-vacvolgyi-chen-taylor-modularinteroperabilityinsurgicalroboticssoftware-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@Article{MODULAR15PKAZ,\r\n  Title                    = {Modular Interoperability in Surgical Robotics Software},\r\n  Author                   = {Kazanzides, Peter and Deguet, Anton and Vacvolgyi, Balazs and Chen, Zihan and Taylor, Russell H},\r\n  Journal                  = {Mechanical Engineering},\r\n  Year                     = {2015},\r\n\r\n  Month                    = {09},\r\n  Number                   = {9},\r\n  Pages                    = {S19-S22},\r\n  Volume                   = {137},\r\n\r\n  Publisher                = {American Society of Mechanical Engineers},\r\n  Url_link                 = {http://search.proquest.com/docview/1709807575?accountid=11752},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/MODULAR15PKAZ.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"qian-chen-kazanzides-anethernettofirewirebridgeforrealtimecontrolofthedavinciresearchkitdvrk-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/ETFA15LONG.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'qian-chen-kazanzides-anethernettofirewirebridgeforrealtimecontrolofthedavinciresearchkitdvrk-2015', 'http://zihanchen.com/assets/papers/ETFA15LONG.pdf', event);\">\n    An Ethernet to FireWire bridge for real-time control of the da Vinci Research Kit (dVRK).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Qian, L.; <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)</i>, pages 1–7,  2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/assets/papers/ETFA15LONG.pdf\"\n     onclick=\"log_download('qian-chen-kazanzides-anethernettofirewirebridgeforrealtimecontrolofthedavinciresearchkitdvrk-2015', 'http://zihanchen.com/assets/papers/ETFA15LONG.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"An Ethernet to FireWire bridge for real-time control of the da Vinci Research Kit (dVRK) [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ETFA.2015.7301489\"\n     onclick=\"log_download('qian-chen-kazanzides-anethernettofirewirebridgeforrealtimecontrolofthedavinciresearchkitdvrk-2015', 'http://doi.org/10.1109/ETFA.2015.7301489', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/qian-chen-kazanzides-anethernettofirewirebridgeforrealtimecontrolofthedavinciresearchkitdvrk-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('qian-chen-kazanzides-anethernettofirewirebridgeforrealtimecontrolofthedavinciresearchkitdvrk-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{ETFA15Eth1394,\r\n  Title                    = {An Ethernet to FireWire bridge for real-time control of the da Vinci Research Kit (dVRK)},\r\n  Author                   = {Qian, Long and Chen, Zihan and Kazanzides, Peter},\r\n  Booktitle                = {2015 IEEE 20th Conference on Emerging Technologies \\&amp; Factory Automation (ETFA)},\r\n  Year                     = {2015},\r\n  Organization             = {IEEE},\r\n  Pages                    = {1--7},\r\n\r\n  Doi                      = {10.1109/ETFA.2015.7301489},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/ETFA15LONG.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"vozar-chen-kazanzides-whitcomb-preliminarystudyofvirtualnonholonomicconstraintsfortimedelayedteleoperation-2015\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/IROS15VOZAR.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'vozar-chen-kazanzides-whitcomb-preliminarystudyofvirtualnonholonomicconstraintsfortimedelayedteleoperation-2015', 'http://zihanchen.com/assets/papers/IROS15VOZAR.pdf', event);\">\n    Preliminary Study of Virtual Nonholonomic Constraints for Time-Delayed Teleoperation.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Vozar, S.; <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Kazanzides, P.;  and Whitcomb, L. L\n</span>\n\n  \n\n</span>\n\n  In <i>2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 4244–4250, Hamburg, Germany, Sept 2015. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/assets/papers/IROS15VOZAR.pdf\"\n     onclick=\"log_download('vozar-chen-kazanzides-whitcomb-preliminarystudyofvirtualnonholonomicconstraintsfortimedelayedteleoperation-2015', 'http://zihanchen.com/assets/papers/IROS15VOZAR.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Preliminary Study of Virtual Nonholonomic Constraints for Time-Delayed Teleoperation [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2015.7353978\"\n     onclick=\"log_download('vozar-chen-kazanzides-whitcomb-preliminarystudyofvirtualnonholonomicconstraintsfortimedelayedteleoperation-2015', 'http://doi.org/10.1109/IROS.2015.7353978', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/vozar-chen-kazanzides-whitcomb-preliminarystudyofvirtualnonholonomicconstraintsfortimedelayedteleoperation-2015\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('vozar-chen-kazanzides-whitcomb-preliminarystudyofvirtualnonholonomicconstraintsfortimedelayedteleoperation-2015')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{IROS15Vozar,\r\n  Title                    = {Preliminary Study of Virtual Nonholonomic Constraints for Time-Delayed Teleoperation},\r\n  Author                   = {Vozar, Steve and Chen, Zihan and Kazanzides, Peter and Whitcomb, Louis L},\r\n  Booktitle                = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\r\n  Year                     = {2015},\r\n\r\n  Address                  = {Hamburg, Germany},\r\n  Month                    = {Sept},\r\n  Organization             = {IEEE},\r\n  Pages                    = {4244--4250},\r\n\r\n  Doi                      = {10.1109/IROS.2015.7353978},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/IROS15VOZAR.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2014\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2014')\"\n      onkeypress=\"toggleGroup('group_2014')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2014</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"chen-kazanzides-multikilohertzcontrolofmultiplerobotsviaieee1394firewire-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/TEPRA14CHEN.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-kazanzides-multikilohertzcontrolofmultiplerobotsviaieee1394firewire-2014', 'http://zihanchen.com/assets/papers/TEPRA14CHEN.pdf', event);\">\n    Multi-kilohertz control of multiple robots via IEEE-1394 (firewire).\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)</i>, pages 1–6, April 2014. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/tepra14\"\n     onclick=\"log_download('chen-kazanzides-multikilohertzcontrolofmultiplerobotsviaieee1394firewire-2014', 'http://zihanchen.com/tepra14', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Multi-kilohertz control of multiple robots via IEEE-1394 (firewire) [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n  <a href=\"http://zihanchen.com/assets/papers/TEPRA14CHEN.pdf\"\n     onclick=\"log_download('chen-kazanzides-multikilohertzcontrolofmultiplerobotsviaieee1394firewire-2014', 'http://zihanchen.com/assets/papers/TEPRA14CHEN.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Multi-kilohertz control of multiple robots via IEEE-1394 (firewire) [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/TePRA.2014.6869144\"\n     onclick=\"log_download('chen-kazanzides-multikilohertzcontrolofmultiplerobotsviaieee1394firewire-2014', 'http://doi.org/10.1109/TePRA.2014.6869144', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-kazanzides-multikilohertzcontrolofmultiplerobotsviaieee1394firewire-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n  &nbsp;\n  <span class=\"bibbase_stats_paper\" style=\"color: #777;\">\n    <span>1 download</span>\n  </span>\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-kazanzides-multikilohertzcontrolofmultiplerobotsviaieee1394firewire-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{TePRA14FW,\r\n  Title                    = {Multi-kilohertz control of multiple robots via IEEE-1394 (firewire)},\r\n  Author                   = {Chen, Zihan and Kazanzides, Peter},\r\n  Booktitle                = {2014 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)},\r\n  Year                     = {2014},\r\n  Month                    = {April},\r\n  Organization             = {IEEE},\r\n  Pages                    = {1--6},\r\n\r\n  Doi                      = {10.1109/TePRA.2014.6869144},\r\n  Url_link                 = {http://zihanchen.com/tepra14},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/TEPRA14CHEN.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"kazanzides-chen-deguet-fischer-taylor-dimaio-anopensourceresearchkitforthedavincisurgicalsystem-2014\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/ICRA14PKAZ.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'kazanzides-chen-deguet-fischer-taylor-dimaio-anopensourceresearchkitforthedavincisurgicalsystem-2014', 'http://zihanchen.com/assets/papers/ICRA14PKAZ.pdf', event);\">\n    An Open-Source Research Kit for the da Vinci®~Surgical System.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  Kazanzides, P.; <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Deguet, A.; Fischer, G. S.; Taylor, R. H.;  and DiMaio, S. P.\n</span>\n\n  \n\n</span>\n\n  In <i>2014 IEEE International Conference on Robotics and Automation (ICRA)</i>, pages 6434-6439, Hong Kong, China, May 2014. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/assets/papers/ICRA14PKAZ.pdf\"\n     onclick=\"log_download('kazanzides-chen-deguet-fischer-taylor-dimaio-anopensourceresearchkitforthedavincisurgicalsystem-2014', 'http://zihanchen.com/assets/papers/ICRA14PKAZ.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"An Open-Source Research Kit for the da Vinci®~Surgical System [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/ICRA.2014.6907809\"\n     onclick=\"log_download('kazanzides-chen-deguet-fischer-taylor-dimaio-anopensourceresearchkitforthedavincisurgicalsystem-2014', 'http://doi.org/10.1109/ICRA.2014.6907809', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/kazanzides-chen-deguet-fischer-taylor-dimaio-anopensourceresearchkitforthedavincisurgicalsystem-2014\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('kazanzides-chen-deguet-fischer-taylor-dimaio-anopensourceresearchkitforthedavincisurgicalsystem-2014')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{ICRA14PKAZ,\r\n  Title                    = {An Open-Source Research Kit for the {da Vinci}\\textregistered~Surgical System},\r\n  Author                   = {Peter Kazanzides and Zihan Chen and Anton Deguet and Fischer, Gregory S. and Taylor, Russell H. and DiMaio, Simon P.},\r\n  Booktitle                = {2014 IEEE International Conference on Robotics and Automation (ICRA)},\r\n  Year                     = {2014},\r\n\r\n  Address                  = {Hong Kong, China},\r\n  Month                    = {May},\r\n  Pages                    = {6434-6439},\r\n\r\n  Doi                      = {10.1109/ICRA.2014.6907809},\r\n  ISSN                     = {1050-4729},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/ICRA14PKAZ.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n  <div class=\"bibbase_group_whole\" id=\"group_2013\">\n    <div class=\"bibbase_group\"\n      onclick=\"toggleGroup('group_2013')\"\n      onkeypress=\"toggleGroup('group_2013')\"\n      tabindex=\"0\">\n      <i class=\"fa fa-angle-down bibbase_group_head_icon\"></i>&nbsp;\n      <span>2013</span>\n      <span class=\"bibbase_group_count\">\n        \n        (2)\n        \n      </span>\n    </div>\n    <div class=\"bibbase_group_body\">\n      \n  \n  <div class=\"bibbase_paper\" id=\"chen-deguet-taylor-dimaio-fischer-kazanzides-anopensourcehardwareandsoftwareplatformfortelesurgicalroboticsresearch-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/MICCAI13WSCHEN.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-deguet-taylor-dimaio-fischer-kazanzides-anopensourcehardwareandsoftwareplatformfortelesurgicalroboticsresearch-2013', 'http://zihanchen.com/assets/papers/MICCAI13WSCHEN.pdf', event);\">\n    An open-source hardware and software platform for telesurgical robotics research.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>; Deguet, A.; Taylor, R.; DiMaio, S.; Fischer, G.;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>Proceedings of the MICCAI Workshop on Systems and Architecture for Computer Assisted Interventions, Nagoya, Japan</i>, pages 22–26, Aug 2013. \n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/miccai13\"\n     onclick=\"log_download('chen-deguet-taylor-dimaio-fischer-kazanzides-anopensourcehardwareandsoftwareplatformfortelesurgicalroboticsresearch-2013', 'http://zihanchen.com/miccai13', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"An open-source hardware and software platform for telesurgical robotics research [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n  <a href=\"http://zihanchen.com/assets/papers/MICCAI13WSCHEN.pdf\"\n     onclick=\"log_download('chen-deguet-taylor-dimaio-fischer-kazanzides-anopensourcehardwareandsoftwareplatformfortelesurgicalroboticsresearch-2013', 'http://zihanchen.com/assets/papers/MICCAI13WSCHEN.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"An open-source hardware and software platform for telesurgical robotics research [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-deguet-taylor-dimaio-fischer-kazanzides-anopensourcehardwareandsoftwareplatformfortelesurgicalroboticsresearch-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-deguet-taylor-dimaio-fischer-kazanzides-anopensourcehardwareandsoftwareplatformfortelesurgicalroboticsresearch-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{MICCAI13WS,\r\n  Title                    = {An open-source hardware and software platform for telesurgical robotics research},\r\n  Author                   = {Chen, Zihan and Deguet, Anton and Taylor, Russell and DiMaio, Simon and Fischer, Gregory and Kazanzides, Peter},\r\n  Booktitle                = {Proceedings of the MICCAI Workshop on Systems and Architecture for Computer Assisted Interventions, Nagoya, Japan},\r\n  Year                     = {2013},\r\n  Month                    = {Aug},\r\n  Pages                    = {22--26},\r\n\r\n  HowPublished             = {\\url{http://hdl.handle.net/10380/3419}},\r\n  Url_link                 = {http://zihanchen.com/miccai13},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/MICCAI13WSCHEN.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n  <div class=\"bibbase_paper\" id=\"chen-kazanzides-forcecontrolofanonbackdrivablerobotwithoutaforcesensor-2013\">\n  <span class=\"bibbase_paper_titleauthoryear\">\n\n  \n  <span class=\"bibbase_paper_title\">\n  \n  \n  \n  <a href=\"http://zihanchen.com/assets/papers/IROS13CHEN.pdf\"\n     onclick=\"return trackOutboundLink('publications', 'click', 'chen-kazanzides-forcecontrolofanonbackdrivablerobotwithoutaforcesensor-2013', 'http://zihanchen.com/assets/papers/IROS13CHEN.pdf', event);\">\n    Force control of a non-backdrivable robot without a force sensor.\n  </a>\n  \n  \n  \n</span>\n\n  <span class=\"bibbase_paper_author\">\n  <a class=\"bibbase author link\" href=\"https://zihanchen.com/publication/\">Chen, Z.</a>;  and Kazanzides, P.\n</span>\n\n  \n\n</span>\n\n  In <i>2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</i>, pages 3570–3575, Tokyo, Japan, Nov 2013. IEEE\n  <span class=\"note\"></span>\n\n<span class=\"bibbase_note\"></span>\n\n<br class=\"bibbase_paper_content\"/>\n\n<span class=\"bibbase_paper_content dontprint\">\n\n  \n  <a href=\"http://zihanchen.com/iros13\"\n     onclick=\"log_download('chen-kazanzides-forcecontrolofanonbackdrivablerobotwithoutaforcesensor-2013', 'http://zihanchen.com/iros13', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/link.svg\"\n\t     alt=\"Force control of a non-backdrivable robot without a force sensor [link]\"\n       title=\" link\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> link</span></a>\n  &nbsp;\n  \n  <a href=\"http://zihanchen.com/assets/papers/IROS13CHEN.pdf\"\n     onclick=\"log_download('chen-kazanzides-forcecontrolofanonbackdrivablerobotwithoutaforcesensor-2013', 'http://zihanchen.com/assets/papers/IROS13CHEN.pdf', event.ctrlKey, event)\">\n    <img src=\"//bibbase.org/img/filetypes/pdf.svg\"\n\t     alt=\"Force control of a non-backdrivable robot without a force sensor [pdf]\"\n       title=\" paper\"\n\t     class=\"bibbase_icon\"\n         ><span class=\"bibbase_icon_text\"> paper</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"http://doi.org/10.1109/IROS.2013.6696865\"\n     onclick=\"log_download('chen-kazanzides-forcecontrolofanonbackdrivablerobotwithoutaforcesensor-2013', 'http://doi.org/10.1109/IROS.2013.6696865', event.ctrlKey)\"\n     class=\"bibbase doi link\">\n    <span>doi</span></a>\n  &nbsp;\n  \n\n  \n  <a href=\"//bibbase.org/network/publication/chen-kazanzides-forcecontrolofanonbackdrivablerobotwithoutaforcesensor-2013\"\n     class=\"bibbase bibbase_page link\">link</a>\n  &nbsp;\n  \n\n  <a href=\"#\"\n     onclick=\"showBib(event); return false;\"\n     class=\"bibbase bibtex link\">bibtex\n    <i class=\"fa fa-caret-down\"></i></a>\n\n  \n\n  \n\n  <!-- <a class=\"bibbase read link hidden\" -->\n  <!--    href=\"javascript:toggleRead('chen-kazanzides-forcecontrolofanonbackdrivablerobotwithoutaforcesensor-2013')\" -->\n  <!--    title=\"Marking this paper as read adds it to your library on BibBase.\" -->\n  <!--    > -->\n  <!--   <i class=\"fa fa-check\"></i>&nbsp; -->\n  <!--   <span>mark as read</span> -->\n  <!-- </a> -->\n\n  &nbsp;\n  \n  \n\n</span>\n\n<div class=\"well well-small bibbase\" data-type=\"bibtex\"\n     style=\"display:none\">\n  <pre style=\"white-space: pre-wrap;\">@InProceedings{IROS13Force,\r\n  Title                    = {Force control of a non-backdrivable robot without a force sensor},\r\n  Author                   = {Chen, Zihan and Kazanzides, Peter},\r\n  Booktitle                = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},\r\n  Year                     = {2013},\r\n\r\n  Address                  = {Tokyo, Japan},\r\n  Month                    = {Nov},\r\n  Organization             = {IEEE},\r\n  Pages                    = {3570--3575},\r\n\r\n  Doi                      = {10.1109/IROS.2013.6696865},\r\n  Url_link                 = {http://zihanchen.com/iros13},\r\n  Url_paper                = {http://zihanchen.com/assets/papers/IROS13CHEN.pdf}\r\n}\r\n\r\n</pre>\n</div>\n\n\n\n</div>\n\n\n\n\n\n    </div>\n  </div>\n\n\n\n\n  </div>\n\n\n  <!-- Modal -->\n\n  <!-- <iframe id=\"bibbase_network_frame\" -->\n  <!--         src=\"//bibbase.org/network/control\" -->\n  <!--         style=\"display: none;\"> -->\n  <!-- </iframe> -->\n\n</div>\n"}; document.write(bibbase_data.data);