Alan Kuntz

According to our database, Alan Kuntz authored at least 42 papers between 2015 and 2024.

Collaborative distances:

• Dijkstra number of five.
• Erdős number of four.

2024

Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network.

Brian Y. Cho, Daniel S. Esser, Jordan Thompson, Bao Thach, Robert J. Webster III, Alan Kuntz

IEEE Robotics Autom. Lett., November, 2024

Leveraging Fixed-Parameter Tractability for Robot Inspection Planning.

Yosuke Mizutani, Daniel Coimbra Salomao, Alex Crane, Matthias Bentert, Pål Grønås Drange, Felix Reidl, Alan Kuntz, Blair D. Sullivan

CoRR, 2024

General-purpose foundation models for increased autonomy in robot-assisted surgery.

Samuel Schmidgall, Ji Woong Kim, Alan Kuntz, Ahmed Ezzat Ghazi, Axel Krieger

CoRR, 2024

Combining Thermoelectrics and Low Melting Point Alloys to Create Reconfigurable Stiff-Compliant Manipulators.

Emily M. McCabe, Daniel S. Esser, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

Directional Stiffness-Switching Soft Robots via Phase-Changing Metallic Spines.

Daniel S. Esser, Emily M. McCabe, Tayfun Efe Ertop, Alan Kuntz, Robert J. Webster III

Proceedings of the 7th IEEE International Conference on Soft Robotics, 2024

Modeling Kinematic Uncertainty of Tendon-Driven Continuum Robots via Mixture Density Networks.

Jordan Thompson, Brian Y. Cho, Daniel S. Brown, Alan Kuntz

Proceedings of the International Symposium on Medical Robotics, 2024

Reward Learning from Suboptimal Demonstrations with Applications in Surgical Electrocautery.

Zohre Karimi, Shing-Hei Ho, Bao Thach, Alan Kuntz, Daniel S. Brown

Proceedings of the International Symposium on Medical Robotics, 2024

Exploring Modal Switch in Metamaterial-Based Robots.

Britton Jordan, Daniel S. Esser, Jeonghyeon Kim, Brian Y. Cho, Robert J. Webster III, Alan Kuntz

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

DefGoalNet: Contextual Goal Learning from Demonstrations for Deformable Object Manipulation.

Bao Thach, Tanner Watts, Shing-Hei Ho, Tucker Hermans, Alan Kuntz

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Efficient and Accurate Mapping of Subsurface Anatomy via Online Trajectory Optimization for Robot Assisted Surgery.

Brian Y. Cho, Alan Kuntz

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

2023

Autonomous medical needle steering in vivo.

Alan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz

Sci. Robotics, September, 2023

Toward Continuum Robot Tentacles for Lung Interventions: Exploring Folding Support Disks.

Margaret Rox, Daniel S. Esser, Mariana E. Smith, Tayfun Efe Ertop, Maxwell Emerson, Fabien Maldonado, Erin A. Gillaspie, Alan Kuntz, Robert J. Webster III

IEEE Robotics Autom. Lett., June, 2023

Asymptotically optimal inspection planning via efficient near-optimal search on sampled roadmaps.

Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz

Int. J. Robotics Res., April, 2023

Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model.

Michael Bentley, Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz

J. Medical Robotics Res., 2023

DeformerNet: Learning Bimanual Manipulation of 3D Deformable Objects.

Bao Thach, Brian Y. Cho, Tucker Hermans, Alan Kuntz

CoRR, 2023

Toward a Millimeter-Scale Tendon-Driven Continuum Wrist with Integrated Gripper for Microsurgical Applications.

Alexandra Leavitt, Ryan Lam, Nichols Crawford Taylor, Daniel S. Drew, Alan Kuntz

CoRR, 2023

A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports.

Mariana E. Smith, Daniel S. Esser, Margaret Rox, Alan Kuntz, Robert J. Webster III

Proceedings of the International Symposium on Medical Robotics, 2023

2022

Interactive-Rate Supervisory Control for Arbitrarily-Routed Multi-Tendon Robots via Motion Planning.

Michael Bentley, D. Caleb Rucker, Alan Kuntz

CoRR, 2022

Interactive-Rate Supervisory Control for Arbitrarily-Routed Multitendon Robots via Motion Planning.

Michael Bentley, D. Caleb Rucker, Alan Kuntz

IEEE Access, 2022

Learning Visual Shape Control of Novel 3D Deformable Objects from Partial-View Point Clouds.

Bao Thach, Brian Y. Cho, Alan Kuntz, Tucker Hermans

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

Backward Planning for a Multi-Stage Steerable Needle Lung Robot.

Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz

IEEE Robotics Autom. Lett., 2021

DeformerNet: A Deep Learning Approach to 3D Deformable Object Manipulation.

Bao Thach, Alan Kuntz, Tucker Hermans

CoRR, 2021

A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles.

Michael Bentley, D. Caleb Rucker, Chakravarthy Reddy, Oren Salzman, Alan Kuntz

CoRR, 2021

Toward Learning Context-Dependent Tasks from Demonstration for Tendon-Driven Surgical Robots.

Yixuan Huang, Michael Bentley, Tucker Hermans, Alan Kuntz

Proceedings of the International Symposium on Medical Robotics, 2021

Planning Sensing Sequences for Subsurface 3D Tumor Mapping.

Brian Y. Cho, Tucker Hermans, Alan Kuntz

Proceedings of the International Symposium on Medical Robotics, 2021

Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume.

Inbar Fried, Janine Hoelscher, Mengyu Fu, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Optimizing Hospital Room Layout to Reduce the Risk of Patient Falls.

Sarvenaz Chaeibakhsh, Roya Sabbagh Novin, Tucker Hermans, Andrew Merryweather, Alan Kuntz

Proceedings of the 10th International Conference on Operations Research and Enterprise Systems, 2021

2020

Decoupling Steerability From Diameter: Helical Dovetail Laser Patterning for Steerable Needles.

Margaret Rox, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Alan Kuntz, Josephine Granna, Jason E. Mitchell, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Jason A. Akulian, Ron Alterovitz, Robert J. Webster III

IEEE Access, 2020

A Recurrent Neural Network Approach to Roll Estimation for Needle Steering.

Maxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster III, Alan Kuntz

Proceedings of the Experimental Robotics - The 17th International Symposium, 2020

Enabling Robots to Understand Incomplete Natural Language Instructions Using Commonsense Reasoning.

Haonan Chen, Hao Tan, Alan Kuntz, Mohit Bansal, Ron Alterovitz

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Toward Asymptotically-Optimal Inspection Planning Via Efficient Near-Optimal Graph Search.

Mengyu Fu, Alan Kuntz, Oren Salzman, Ron Alterovitz

Proceedings of the Robotics: Science and Systems XV, 2019

Design and control of a compact modular robot for transbronchial lung biopsy.

Stephanie Amack, Margaret Rox, Jason E. Mitchell, Tayfun Efe Ertop, Maxwell Emerson, Alan Kuntz, Fabien Maldonado, Jason A. Akulian, Joshua B. Gafford, Ron Alterovitz, Robert J. Webster III

Proceedings of the Medical Imaging 2019: Image-Guided Procedures, 2019

optimizing Motion-Planning Problem Setup via Bounded Evaluation with Application to Following Surgical Trajectories.

Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Planning High-Quality Motions for Concentric Tube Robots in Point Clouds via Parallel Sampling and optimization.

Alan Kuntz, Mengyu Fu, Ron Alterovitz

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018

Following Surgical Trajectories with Concentric Tube Robots via Nearest-Neighbor Graphs.

Sherdil Niyaz, Alan Kuntz, Oren Salzman, Ron Alterovitz, Siddhartha S. Srinivasa

Proceedings of the 2018 International Symposium on Experimental Robotics, 2018

Safe Motion Planning for Steerable Needles Using Cost Maps Automatically Extracted from Pulmonary Images.

Mengyu Fu, Alan Kuntz, Robert J. Webster III, Ron Alterovitz

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning.

Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

2017

Fast Anytime Motion Planning in Point Clouds by Interleaving Sampling and Interior Point Optimization.

Alan Kuntz, Chris Bowen, Ron Alterovitz

Proceedings of the Robotics Research, The 18th International Symposium, 2017

Motion planning for continuum reconfigurable incisionless surgical parallel robots.

Alan Kuntz, Arthur W. Mahoney, Nicolas E. Peckman, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

2016

Interleaving Optimization with Sampling-Based Motion Planning (IOS-MP): Combining Local Optimization with Global Exploration.

Alan Kuntz, Chris Bowen, Ron Alterovitz

CoRR, 2016

2015

Motion planning for a three-stage multilumen transoral lung access system.

Alan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation.

Luis G. Torres, Alan Kuntz, Hunter B. Gilbert, Philip J. Swaney, Richard J. Hendrick, Robert J. Webster III, Ron Alterovitz

Proceedings of the IEEE International Conference on Robotics and Automation, 2015