Research Theme
Geometric Port-Hamiltonian Modelling and Control of Vehicle-Manipulator Systems
2024 - Present
ongoing- Vehicle-Manipulator Systems
- Port-Hamiltonian Systems
- Safe Interaction
- Physical Human-Robot Interaction
Overview
Research Overview
Development of control frameworks for integrated vehicle-manipulator platforms with focus on safe physical interaction
Geometric Port-Hamiltonian Modelling and Control of Vehicle-Manipulator Systems
Overview
This research addresses the fundamental challenge of coordinating vehicle motion with manipulator control in integrated robotic platforms. Vehicle-manipulator systems represent a critical frontier in robotics, enabling applications from aerial manipulation to mobile manipulation in challenging environments.
Key Contributions
- Unified Port-Hamiltonian Framework
- Stability Analysis
- Safe Interaction Control
- Computational Efficiency
Applications
- Aerial Manipulation
- Mobile Manipulation
- Underwater Manipulation
- Space Robotics