Feedback control for robotic manipulation with applications in robotic surgery
Lead Research Organisation:
University of Cambridge
Department Name: Engineering
Abstract
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.
Organisations
Studentship Projects
Project Reference | Relationship | Related To | Start | End | Student Name |
---|---|---|---|---|---|
EP/R513180/1 | 30/09/2018 | 29/09/2023 | |||
2434541 | Studentship | EP/R513180/1 | 30/09/2020 | 12/06/2024 | Daniel Larby |
EP/T517847/1 | 30/09/2020 | 29/09/2025 | |||
2434541 | Studentship | EP/T517847/1 | 30/09/2020 | 12/06/2024 | Daniel Larby |