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. Author manuscript; available in PMC: 2022 Jul 28.
Published in final edited form as: Proc IEEE Inst Electr Electron Eng. 2022 Jun 23;110(7):993–1011. doi: 10.1109/JPROC.2022.3176828

Fig. 8.

Fig. 8

Automated peg-transfer task setup. The UCB group used the dVRK robot from intuitive surgical with two arms. The blocks, pegs, and peg board were monochrome red to simulate a surgical setting. The dimensions of the pegs and the blocks are shown in the lower left, along with a top-down visualization of the peg board to the lower right. The robot takes actions based on images taken from a camera, installed 0.5 m from the task space, and 50° inclined from vertical. The six joints {q1, q6} are illustrated for one of the arms.