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.
Robotic modeling & control
We study flexible robot dynamics, trajectory generation, vibration compensation, force estimation, and robotic manufacturing for accurate operation in demanding environments.
Robotics projects
Flexible industrial robot dynamics and control
Low-dimensional modeling and vibration-aware trajectory generation for industrial robots with joint and link flexibility.
Boom-lift-mounted robotic systems
Dynamic modeling and vibration compensation for large-reach robots on extendable, variable-stiffness structures.