Surfing on an uncertain edge: Precision cutting of soft tissue using torque-based medium classification
Artūras Straižys,Michael Burke,Subramanian Ramamoorthy,Artūras Straižys,Michael Burke,Subramanian Ramamoorthy
Precision cutting of soft-tissue remains a challenging problem in robotics, due to the complex and unpredictable mechanical behaviour of tissue under manipulation. Here, we consider the challenge of cutting along the boundary between two soft mediums, a problem that is made extremely difficult due to visibility constraints, which means that the precise location of the cutting trajectory is typical...
