Feedback control for robotic manipulation with applications in robotic surgery

The project will investigate feedback control for robotics, specifically force and position control for equilibrium and non-equilibrium behaviours. The project will investigate control algorithms for manipulation of deformable objects and haptic interfaces for biomedical robotics. Experimental studies will be conducted in robotic-assisted surgery, in collaboration with CMR Surgical. The research will leverage classical and new methods like passivity-based, impedance control, differential dissipativity, dynamic allocation techniques, adaptive/learning techniques, vision algorithms for tracking. The expected outcomes are new control algorithms for robotic manipulation, impedance control, and force/position control, experimental prototypes in soft-robotics and in robotic-assisted surgery. The project will be documented through internal reports and publications. The project contributes to the EPSRC research areas of Control engineering, Electrical motors and drives / electromagnetics, Engineering design, Human-computer interaction, Non-linear systems, and Robotics.