Abstract:Breast cancer is the most common type of cancer worldwide. A robotic system performing autonomous breast palpation can make a significant impact on the related health sector worldwide. However, robot programming for breast palpating with different geometries is very complex and unsolved. Robot learning from demonstrations (LfD) reduces the programming time and cost. However, the available LfD are lacking the modelling of the manipulation path/trajectory as an explicit function of the visual sensory information… Show more
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