Bio-Inspired Robots

Journal Papers

  1. I. S. Godage, R. Wirz, I. D. Walker, and R. J. Webster, III, “Accurate and Efficient Dynamics for Variable Length Continuum Arms: A Center of Gravity Approach”, Soft Robotics, vol. 2, no. 3, pp. 96-106, 2015. PDF (1.08 MB)
  2. D. C. Rucker and R. J. Webster III, “Statics and Dynamics of Continuum Robots with General Tendon Routing and External Loading”, IEEE Transactions on Robotics, vol. 27, no. 6, pp. 1033-1044, 2011. PDF (1.01 MB)

Conference Papers

  1. I. S. Godage, R. Wirz, I. D. Walker, and R. J. Webster, III, “Efficient spatial dynamics for continuum arms”, in ASME Dynamic Systems and Control Conference, 2015. PDF (417.99 KB)
  2. P. J. Swaney, J. Burgner, T. S. Pheiffer, D. C. Rucker, H. B. Gilbert, J. E. Ondrake, A. L. Simpson, E. C. Burdette, M. I. Miga, and R. J. Webster III, “Tracked 3D Ultrasound Targeting with an Active Cannula”, in SPIE Medical Imaging, 2012. PDF (500.42 KB)
  3. R. J. Webster III, A. M. Okamura, and N. J. Cowan, “Toward Active Cannulas: Miniature Snake-Like Surgical Robots”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 2857-2863. PDF (3.32 MB) Best Paper Award Finalist
  4. R. J. Webster III, J. Memisevic, and A. M. Okamura, “Design Considerations for Robotic Needle Steering”, in IEEE International Conference on Robotics and Automation, 2005, pp. 3599-3605. PDF (819.25 KB)

Non-Refereed/Invited/Poster/Abstract/Short Papers

  1. P. Hall and I. S. Godage, “Development of the COBRA Module used to Explore Locomotion in Modular Robots”. IEEE, International Conference on Automation Science and Engineering (CASE), 2016.
  2. R. J. Hendrick, R. A. Lathrop, J. S. Schneider, and R. J. Webster, III, “Design of an Endonasal Graft Placement Tool for Repair of Skull Base Defects”. Design of Medical Devices Conference, 2013. PDF (519.78 KB) Best Poster/Presentation (3 in 5 competition winner)

Book Chapters

  1. A. W. Mahoney, T. L. Bruns, R. Alterovitz, and R. J. Webster, III, “Design, Sensing, and Planning: Fundamentally Coupled Problems for Continuum Robots”, 17th International Symposium on Robotics Research 2015, Springer Tracts on Advanced Robotics, 2018, pp. 267-282.
  2. A. W. Mahoney, H. B. Gilbert, and R. J. Webster, III, “A Review of Concentric Tube Robots: Modeling, Control, Design, Planning, and Sensing”, in Encyclopedia of Medical Robotics, vol. Minimally Invasive Surgical Robotics, 2016. PDF (12.23 MB)
  3. D. C. Rucker and R. J. Webster III, “Mechanics of Continuum Robots with General Tendon Routing Paths Under External Loading”, in 12th International Symposium on Experimental Robotics (2010). Springer Tracts in Advanced Robotics, vol. 79, 2014, pp. 645-654. PDF (240.35 KB)

Ph.D. Dissertations

  1. D. C. Rucker, “The Mechanics of Continuum Robots: Model-Based Sensing and Control”. Vanderbilt University, Nashville, TN, 2011. PDF (7.77 MB)
  2. R. J. Webster, III, “Design and Mechanics of Continuum Robots for Surgery”. Johns Hopkins University, Baltimore, Maryland, 2007. PDF (4.8 MB)