L. Fichera

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Robotics & Embodied AI (1)

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Haoying Zhou (1)Hao Yang (1)Brendan Burkhart (1)B. Burkhart (1)

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Mar 12, 2026

4d ago

Towards Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator

Overcome the dVRK-Si's substantial gravity loading and improve control by 84% using a new dynamic modeling framework and parameter identification method.

Haoying Zhou, Hao Yang, Brendan Burkhart +8

Robotics & Embodied AI

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L. Fichera

Publication activitypapers/week, last 8 weeks

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