Papers
20
Total Citations
468
H-Index
12
About
Andrew L. Orekhov is a robotics researcher whose work spans continuum robotics, surgical robotics, and autonomous exploration systems. He has made significant contributions to the modeling, simulation, and control of flexible robotic structures, particularly parallel continuum robots — compact, compliant mechanisms with promising applications in minimally invasive surgery and micromanipulation. His 2015 paper on efficient Cosserat rod modeling for parallel continuum manipulators (97 citations) established foundational computational methods that enabled real-time simulation and control of these complex systems, while subsequent work on general intermediate constraints (45 citations) extended this framework further. Orekhov has also advanced surgical robotics through his research on snake-like robots for single-port and intraluminal procedures (48 citations), and contributed to magnetic soft continuum robot control, shape sensing using Lie group formulations, and stiffness modulation in parallel mechanisms. Beyond medical applications, his involvement in NASA's EELS autonomous snake-like robot project (62 citations), designed to explore the icy moons of our solar system, demonstrates the remarkable breadth of his impact. His work on multi-modal sensor arrays for safe human-robot interaction further reflects a commitment to bridging theoretical modeling with practical, real-world deployment across diverse and challenging environments.
Research Focus
Key Achievements
Top Papers
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- 4Modeling parallel continuum robots with general intermediate constraints45 citations · 2017
- 5Closed Loop Static Control of Multi-Magnet Soft Continuum Robots36 citations · 2023
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- 10A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping21 citations · 2019