CTR Design Optimization

Sep 2, 2024·
Cédric Girerd
Cédric Girerd
· 1 min read
research

Overview

Concentric tube robots have a large number of design variables, which is often reduced in order for design optimization problems to be tractable by gradient-free approaches. However, this reduces the design space of the robots, which can lead to sub-optimal results. To overcome those limitations, we propose a design optimization problem formulation compatible with grandient-based methods, allowing us to explore a larger design space.

Publications

Jui te lin, Cédric Girerd, Benjamin t. ostrander, Parsa molaei, Hunter b. gilbert, Philip a. weissbrod, John t. hwang, Tania k. morimoto (2024). Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery. TBME.
PDF DOI
Ryan c. dunn, Anugrah jo joshy, Jui te lin, Cédric Girerd, Tania k. morimoto, John t. hwang (2023). Scalable enforcement of geometric non-interference constraints for gradient-based optimization. Optim Eng.
PDF DOI
Chibundo nwafor, Cédric Girerd, Guillaume j. laurent, Tania k. morimoto, Kanty rabenorosoa (2023). Design and Fabrication of Concentric Tube Robots: A Survey. TRO.
PDF Dataset DOI
Jui te lin, Cédric Girerd, Jiayao yan, John t. hwang, Tania k. morimoto (2022). A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization. TRO.
PDF DOI

Continuum Robots Concentric Tube Robots
Cédric Girerd
Authors
Cédric Girerd
CNRS Researcher
I am a CNRS Researcher in Robotics. I work in the DEXTER Team in the Robotics Department at LIRMM in Montpellier, France. I obtained a PhD from Strasbourg University in 2018 in Robotics, and was a Postdoctoral Scholar at the University of California San Diego from 2019 to 2022. Since 2023, I am an Associate Editor for the IEEE RoboSoft Conference.