Sensorless contact wrench estimation for industrial robots
A dual-stage temporal-residual model estimates six-axis contact forces and moments from robot proprioception without a wrist force sensor.
From physical models to working systems
MAAL brings mechanics, control, sensing, optimization, and experiments together. Our projects are organized around three connected directions: intelligent manufacturing, robotic systems, and adaptive aircraft.
Current research projects
Flexible industrial robot dynamics and control
Low-dimensional modeling and vibration-aware trajectory generation for industrial robots with joint and link flexibility.
Additive manufacturing process monitoring and control
Unified process and feed-drive models with thermal, vibration, position, and extrusion sensing.
Continuous-fiber additive manufacturing
Modeling, path optimization, and fabrication of free-form continuous-fiber-reinforced parts.
Flexible aircraft reduced-order modeling and load alleviation
Efficient aeroelastic models for evaluating and controlling lightweight flexible aircraft.
VTOL data-driven modeling and control allocation
Physics-informed, flight-data-driven models for transition flight, vectoring, and control allocation.
Boom-lift-mounted robotic systems
Dynamic modeling and vibration compensation for large-reach robots on extendable, variable-stiffness structures.