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ORCIDD. Caleb Rucker
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2020 – today
- 2024
[j32]Jake A. Childs
, Caleb Rucker:
A Kinetostatic Model for Concentric Push-Pull Robots. IEEE Trans. Robotics 40: 554-572 (2024)- [j31]James M. Ferguson, D. Caleb Rucker, Robert J. Webster III:
Unified Shape and External Load State Estimation for Continuum Robots. IEEE Trans. Robotics 40: 1813-1827 (2024) - [j30]Sven Lilge, Kathrin Nuelle, Jake A. Childs, Kefei Wen, D. Caleb Rucker, Jessica Burgner-Kahrs:
Parallel-Continuum Robots: A Survey. IEEE Trans. Robotics 40: 3252-3270 (2024) - [c26]Khoa T. Dang, Stephen Qiu, Carter Hatch, Peter Connor, Tony Qin, Ron Alterovitz, Robert J. Webster III, Caleb Rucker:
Design of Transmission Tubes for Surgical Concentric Push-Pull Robots. ISMR 2024: 1-7 - 2023
- [j29]Michael Bentley, Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz:
Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model. J. Medical Robotics Res. 8(1&2): 2350003:1-2350003:16 (2023) - [c25]AbdulAziz Y. AlKayas, Daniel Feliú Talegon, Anup Teejo Mathew, D. Caleb Rucker, Federico Renda:
Shape and Tip Force Estimation of Concentric Tube Robots Based on Actuation Readings Alone. RoboSoft 2023: 1-8 - 2022
- [j28]Michael Bentley, D. Caleb Rucker, Alan Kuntz:
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning. IEEE Access 10: 80999-81019 (2022) - [j27]Pierre E. Dupont, Nabil Simaan, Howie Choset, D. Caleb Rucker:
Continuum Robots for Medical Interventions. Proc. IEEE 110(7): 847-870 (2022) - [j26]D. Caleb Rucker, Jake A. Childs, Parsa Molaei, Hunter B. Gilbert:
Transverse Anisotropy Stabilizes Concentric Tube Robots. IEEE Robotics Autom. Lett. 7(2): 2407-2414 (2022) - [j25]D. Caleb Rucker, Patrick M. Wensing:
Smooth Parameterization of Rigid-Body Inertia. IEEE Robotics Autom. Lett. 7(2): 2771-2778 (2022) - [j24]Vincent A. Aloi, Khoa T. Dang, Eric J. Barth, D. Caleb Rucker:
Estimating Forces Along Continuum Robots. IEEE Robotics Autom. Lett. 7(4): 8877-8884 (2022) - [j23]Kaitlin Oliver-Butler, Jake A. Childs, Adam Daniel, D. Caleb Rucker:
Concentric Push-Pull Robots: Planar Modeling and Design. IEEE Trans. Robotics 38(2): 1186-1200 (2022) - [j22]Laura H. Blumenschein, Margaret Koehler, Nathan S. Usevitch, Elliot Wright Hawkes, D. Caleb Rucker, Allison M. Okamura:
Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots. IEEE Trans. Robotics 38(3): 1820-1840 (2022) - [c24]D. Caleb Rucker, Eric J. Barth, Joshua Gaston, James C. Gallentine:
Task-Space Control of Continuum Robots using Underactuated Discrete Rod Models. IROS 2022: 10967-10974 - [i3]Michael Bentley, D. Caleb Rucker, Alan Kuntz:
Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning. CoRR abs/2211.16452 (2022) - 2021
- [j21]Jake A. Childs, D. Caleb Rucker:
Leveraging Geometry to Enable High-Strength Continuum Robots. Frontiers Robotics AI 8: 629871 (2021) - [j20]S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Brendan Michael, Ludovic Renson, Matthew Howard, D. Caleb Rucker, Kaspar Althoefer, Thrishantha Nanayakkara, Steffen Zschaler, Christos Bergeles, Helmut Hauser, Ian D. Walker:
TMTDyn: A Matlab package for modeling and control of hybrid rigid-continuum robots based on discretized lumped systems and reduced-order models. Int. J. Robotics Res. 40(1) (2021) - [j19]Federico Renda, Conor Messer, D. Caleb Rucker, Frédéric Boyer:
A Sliding-Rod Variable-Strain Model for Concentric Tube Robots. IEEE Robotics Autom. Lett. 6(2): 3451-3458 (2021) - [i2]Michael Bentley, D. Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz:
A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles. CoRR abs/2101.02246 (2021) - 2020
- [j18]Jake A. Childs, D. Caleb Rucker:
Concentric Precurved Bellows: New Bending Actuators for Soft Robots. IEEE Robotics Autom. Lett. 5(2): 1215-1222 (2020) - [j17]S. M. Hadi Sadati, Ali Shiva, Nicolas Herzig, D. Caleb Rucker, Helmut Hauser, Ian D. Walker, Christos Bergeles, Kaspar Althoefer, D. P. Thrishantha Nanayakkara:
Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings. IEEE Robotics Autom. Lett. 5(2): 2824-2831 (2020) - [j16]John Till, Vincent A. Aloi, Katherine E. Riojas, Patrick L. Anderson, Robert J. Webster III, D. Caleb Rucker:
A Dynamic Model for Concentric Tube Robots. IEEE Trans. Robotics 36(6): 1704-1718 (2020) - [i1]Laura H. Blumenschein, Margaret Koehler, Nathan S. Usevitch, Elliot W. Hawkes, D. Caleb Rucker, Allison M. Okamura:
Geometric Solutions for General Actuator Routing on Inflated-Beam Soft Growing Robots. CoRR abs/2006.06117 (2020)
2010 – 2019
- 2019
- [j15]John Till, Vincent A. Aloi, D. Caleb Rucker:
Real-time dynamics of soft and continuum robots based on Cosserat rod models. Int. J. Robotics Res. 38(6) (2019) - [j14]Katherine E. Riojas, Patrick L. Anderson, Ray A. Lathrop, S. Duke Herrell, D. Caleb Rucker, Robert J. Webster III:
A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow. IEEE Trans. Biomed. Eng. 66(11): 3176-3184 (2019) - [j13]Kaitlin Oliver-Butler, John Till, Daniel Caleb Rucker:
Continuum Robot Stiffness Under External Loads and Prescribed Tendon Displacements. IEEE Trans. Robotics 35(2): 403-419 (2019) - [c23]Vincent A. Aloi, D. Caleb Rucker:
Estimating Loads Along Elastic Rods. ICRA 2019: 2867-2873 - [c22]Seyedmohammadhadi Sadati, Ali Shiva, Seyedeh Elnaz Naghibi, D. Caleb Rucker, Ludovic Renson, Christos Bergeles, Kaspar Althoefer, D. P. Thrishantha Nanayakkara, Helmut Hauser, Ian D. Walker:
Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators. Robotics: Science and Systems 2019 - 2018
- [j12]D. Caleb Rucker:
Integrating Rotations Using Nonunit Quaternions. IEEE Robotics Autom. Lett. 3(4): 2979-2986 (2018) - [j11]Caroline B. Black, John Till, D. Caleb Rucker:
Parallel Continuum Robots: Modeling, Analysis, and Actuation-Based Force Sensing. IEEE Trans. Robotics 34(1): 29-47 (2018) - 2017
- [j10]John Till, D. Caleb Rucker:
Elastic Stability of Cosserat Rods and Parallel Continuum Robots. IEEE Trans. Robotics 33(3): 718-733 (2017) - [c21]Andrew L. Orekhov, Vincent A. Aloi, D. Caleb Rucker:
Modeling parallel continuum robots with general intermediate constraints. ICRA 2017: 6142-6149 - [c20]John Till, D. Caleb Rucker:
Elastic rod dynamics: Validation of a real-time implicit approach. IROS 2017: 3013-3019 - [c19]Kaitlin Oliver-Butler, Zane H. Epps, Daniel Caleb Rucker:
Concentric agonist-antagonist robots for minimally invasive surgeries. Image-Guided Procedures 2017: 1013511 - [c18]Ryan Ponten, Caroline B. Black, Andrew J. Russ, D. Caleb Rucker:
Analysis of a concentric-tube robot design and feasibility for endoscopic deployment. Image-Guided Procedures 2017: 1013514 - 2016
- [j9]Andrew L. Orekhov, Caroline B. Black, John Till, Scotty Chung, D. Caleb Rucker:
Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator. IEEE Robotics Autom. Lett. 1(2): 828-835 (2016) - 2015
- [j8]Jessica Burgner-Kahrs, D. Caleb Rucker, Howie Choset:
Continuum Robots for Medical Applications: A Survey. IEEE Trans. Robotics 31(6): 1261-1280 (2015) - [c17]Andrew L. Orekhov, Caroline E. Bryson, John Till, Scotty Chung, D. Caleb Rucker:
A surgical parallel continuum manipulator with a cable-driven grasper. EMBC 2015: 5264-5267 - [c16]John Till, Caroline E. Bryson, Scotty Chung, Andrew L. Orekhov, D. Caleb Rucker:
Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators. ICRA 2015: 5067-5074 - 2014
- [j7]Amber L. Simpson, Kay Sun, Thomas S. Pheiffer, D. Caleb Rucker, Allen K. Sills, Reid Carleton Thompson, Michael I. Miga:
Evaluation of Conoscopic Holography for Estimating Tumor Resection Cavities in Model-Based Image-Guided Neurosurgery. IEEE Trans. Biomed. Eng. 61(6): 1833-1843 (2014) - [j6]D. Caleb Rucker, Yifei Wu, Logan W. Clements, Janet E. Ondrake, Thomas S. Pheiffer, Amber L. Simpson, William R. Jarnagin, Michael I. Miga:
A Mechanics-Based Nonrigid Registration Method for Liver Surgery Using Sparse Intraoperative Data. IEEE Trans. Medical Imaging 33(1): 147-158 (2014) - [c15]Caroline E. Bryson, D. Caleb Rucker:
Toward parallel continuum manipulators. ICRA 2014: 778-785 - [c14]Yifei Wu, D. Caleb Rucker, Rebekah H. Conley, Thomas S. Pheiffer, Amber L. Simpson, Sunil K. Geevarghese, Michael I. Miga:
Registration of liver images to minimally invasive intraoperative surface and subsurface data. Image-Guided Procedures 2014: 90360V - 2013
- [j5]D. Caleb Rucker, Jadav Das, Hunter B. Gilbert, Philip J. Swaney, Michael I. Miga, Nilanjan Sarkar, Robert J. Webster III:
Sliding Mode Control of Steerable Needles. IEEE Trans. Robotics 29(5): 1289-1299 (2013) - [c13]Hunter B. Gilbert, D. Caleb Rucker, Robert J. Webster III:
Concentric Tube Robots: The State of the Art and Future Directions. ISRR 2013: 253-269 - [c12]D. Caleb Rucker, Yifei Wu, Janet E. Ondrake, Thomas S. Pheiffer, Amber L. Simpson, Michael I. Miga:
Nonrigid liver registration for image-guided surgery using partial surface data: a novel iterative approach. Image-Guided Procedures 2013: 86710B - 2012
- [c11]Hao Su, Diana C. Cardona, Weijian Shang, Alexander Camilo, Gregory A. Cole, D. Caleb Rucker, Robert J. Webster III, Gregory S. Fischer:
A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study. ICRA 2012: 1939-1945 - [c10]Philip J. Swaney, Jessica Burgner, Thomas S. Pheiffer, D. Caleb Rucker, Hunter B. Gilbert, Janet E. Ondrake, Amber L. Simpson, Everette Clif Burdette, Michael I. Miga, Robert J. Webster III:
Tracked 3D ultrasound targeting with an active cannula. Image-Guided Procedures 2012: 83160R - 2011
- [j4]D. Caleb Rucker, Robert J. Webster III:
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading. IEEE Trans. Robotics 27(6): 1033-1044 (2011) - [c9]D. Caleb Rucker, Robert J. Webster III:
Computing Jacobians and compliance matrices for externally loaded continuum robots. ICRA 2011: 945-950 - [c8]Jessica Burgner, Philip J. Swaney, D. Caleb Rucker, Hunter B. Gilbert, Scott T. Nill, Paul T. Russell III, Kyle D. Weaver, Robert J. Webster III:
A bimanual teleoperated system for endonasal skull base surgery. IROS 2011: 2517-2523 - [c7]D. Caleb Rucker, Robert J. Webster III:
Deflection-based force sensing for continuum robots: A probabilistic approach. IROS 2011: 3764-3769 - 2010
- [j3]D. Caleb Rucker, Robert J. Webster III, Gregory S. Chirikjian, Noah J. Cowan:
Equilibrium Conformations of Concentric-tube Continuum Robots. Int. J. Robotics Res. 29(10): 1263-1280 (2010) - [j2]D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III:
A Geometrically Exact Model for Externally Loaded Concentric-Tube Continuum Robots. IEEE Trans. Robotics 26(5): 769-780 (2010) - [c6]D. Caleb Rucker, Bryan A. Jones, Robert J. Webster III:
A model for concentric tube continuum robots under applied wrenches. ICRA 2010: 1047-1052 - [c5]Jordan M. Croom, D. Caleb Rucker, Joseph M. Romano, Robert J. Webster III:
Visual sensing of continuum robot shape using self-organizing maps. ICRA 2010: 4591-4596 - [c4]Ray A. Lathrop, D. Caleb Rucker, Robert J. Webster III:
Guidance of a steerable cannula robot in soft tissue using preoperative imaging and conoscopic surface contour sensing. ICRA 2010: 5601-5606 - [c3]D. Caleb Rucker, Robert J. Webster III:
Mechanics of Continuum Robots with External Loading and General Tendon Routing. ISER 2010: 645-654 - [c2]Emad M. Boctor, Philipp J. Stolka, Hyun-Jae Kang, Clyde Clarke, D. Caleb Rucker, Jordon M. Croom, Everette Clif Burdette, Robert J. Webster III:
Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance. Image-Guided Procedures 2010: 76252N
2000 – 2009
- 2009
- [j1]D. Caleb Rucker, Robert J. Webster III:
Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation. IEEE Trans. Biomed. Eng. 56(9): 2308-2311 (2009) - [c1]D. Caleb Rucker, Robert J. Webster III:
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas. ICRA 2009: 2533-2537
Coauthor Index
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