On Slip Detection for Quadruped Robots.

Legged robots are meant to autonomously navigate unstructured environments for applications like search and rescue, inspection, or maintenance. In autonomous navigation, a close relationship between locomotion and perception is crucial; the robot has to perceive the environment and detect any change in order to autonomously make decisions based on what it perceived. One main challenge in autonomous navigation for legged robots is locomotion over unstructured terrains.

Respiratory motion estimation of the liver with abdominal motion as a surrogate.

Background: Respiratory-induced motion (RIM) causes uncertainties in localizing hepatic lesions, which could lead to inaccurate targeting during interventions. One approach to mitigate the problem is respiratory motion estimation (RME), in which the liver motion is estimated by measuring external signals called surrogates.

Methods: A learning-based approach has been developed and validated to estimate the RIM of hepatic lesions.