Olga Gerget

About

Olga Gerget is a prominent robotics researcher whose work sits at the intersection of continuum robotics, medical applications, and computational kinematics. Her research has made significant strides in solving some of the most challenging problems in flexible robot manipulation, particularly the inverse kinematics problem — the mathematical challenge of determining how a robot must move to reach a desired position. Gerget's most widely recognized contribution is her development and refinement of FABRIK-based algorithms for continuum robots, flexible manipulators that bend through elastic deformation rather than rigid joints. Her foundational 2018 paper on multi-section continuum robots (13 citations) laid groundwork that she extended through FABRIKx (2022, 15 citations), addressing the critical limitation of constant curvature assumptions in real-world robotic systems. Her broader survey "Robotics in Healthcare" (2021, 31 citations) stands as her most impactful work, reflecting the medical relevance driving much of her research. Beyond kinematics, Gerget has contributed to collision avoidance, visual shape sensing, catheter segmentation using semi-synthetic data, and motion planning — demonstrating a comprehensive research vision. With over 80 cumulative citations, her work is actively shaping the future of minimally invasive surgical robotics and intelligent flexible manipulators.

Research Focus

Key Achievements

Top Papers

1. 1
   Robotics in Healthcare

   31 citations · 2021
2. 2
   FABRIKx: Tackling the Inverse Kinematics Problem of Continuum Robots with Variable Curvature

   15 citations · 2022
3. 3
   FABRIK-Based Inverse Kinematics For Multi-Section Continuum Robots

   13 citations · 2018
4. 4
   Use of semi-synthetic data for catheter segmentation improvement

   8 citations · 2023
5. 5
   Visual shape and position sensing algorithm for a continuum robot

   7 citations · 2021
6. 6
   Inverse Kinematics for Steerable Concentric Continuum Robots

   6 citations · 2019
7. 7
   Collision Avoidance for Continuum Robot Using FABRIK Algorithm

   3 citations · 2019
8. 8
   Inverse Kinematics for Multisection Continuum Robots with Variable Section Length

   2 citations · 2023
9. 9
   Comparison of Inverse Kinematics Algorithms for Multi-Section Continuum Robots

   2 citations · 2021
10. 10
    Motion Planning Algorithm for continuum Robots Bending over Obstacles

    2 citations · 2019

Key Collaborators

Contact & Links