Bio-Inspired Robots

Journal Papers

  1. F. Campisano, A. Remirez, C. A. Landewee, S. Calo, K. Obstein, R. J. Webster, III, and P. Valdastri, “Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy”, IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6427-6434, 2020.
  2. I. S. Godage, R. J. Webster, III, and I. D. Walker, “Center-of-Gravity-Based Approach for Modeling Dynamics of Multisection Continuum Arms”, IEEE Transactions on Robotics, vol. 35, no. 5, pp. 1097-1108, 2019.
  3. 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)
  4. 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. D. C. Rucker and R. J. Webster, III, “Deflection-Based Force Sensing for Continuum Robots: A Probabilistic Approach”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011, pp. 3764-3769. PDF (683.04 KB)
  3. N. N. Pak, R. J. Webster, III, A. Menciassi, and P. Dario, “Electrolytic Silicone Bourdon Tube Microactuator for Reconfigurable Surgical Robots”, in IEEE International Conference on Robotics and Automation, 2007, pp. 3371-3376. PDF (1.45 MB)
  4. 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

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

  1. 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, H. B. Gilbert, and R. J. Webster, III, “A Review of Concentric Tube Robots: Modeling, Control, Design, Planning, and Sensing”, vol. Minimally Invasive Surgical Robotics, Encyclopedia of Medical Robotics, 2018, pp. 181-202. PDF (12.23 MB)
  2. 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. PDF (567.27 KB)
  3. D. C. Rucker and R. J. Webster, III, “Mechanics of Continuum Robots with General Tendon Routing Paths Under External Loading”, vol. 79, 12th International Symposium on Experimental Robotics (2010). Springer Tracts in Advanced Robotics, 2014, pp. 645-654. PDF (240.35 KB)

Ph.D. Dissertations

  1. R. J. Hendrick, “System Design and Elastic Stability Modeling of Transendoscopic Continuum Robots”. Vanderbilt University, Nashville, TN, 2017. PDF (5.09 MB)
  2. D. C. Rucker, “The Mechanics of Continuum Robots: Model-Based Sensing and Control”. Vanderbilt University, Nashville, TN, 2011. PDF (7.77 MB)
  3. R. J. Webster, III, “Design and Mechanics of Continuum Robots for Surgery”. Johns Hopkins University, Baltimore, Maryland, 2007. PDF (4.8 MB)