• Developing the unified modeling, simulation, and control of deformable, rigid, articulated, fluid object using position-based dynamics (PBD), in particular for articulated manipulation (impedance control, trajectory optimization, rope shape control etc) and surgical applications (soft tissue, membrane, blood and tools).• Differentiability for the PBD simulation using adjoint method based on chain-rule and Autodiff tools.• Developing our constrained-based solver and software… Show more • Developing the unified modeling, simulation, and control of deformable, rigid, articulated, fluid object using position-based dynamics (PBD), in particular for articulated manipulation (impedance control, trajectory optimization, rope shape control etc) and surgical applications (soft tissue, membrane, blood and tools).• Differentiability for the PBD simulation using adjoint method based on chain-rule and Autodiff tools.• Developing our constrained-based solver and software architecture in conjunction with NVIDIA Flex and Warp.• Real-to-sim transfer techniques using non-rigid perception, registration, and tracking.• Closed-loop controller design, motion planning and validation using field robots, such as da Vinci Reseach Kit (DVRK), 7-dof Baxter Robotic Arm, 7-dof Franka Panda Arm, a catheter robot, a non-holonomic mobile robot, a hydraulic-driven underwater robotic arm, haptic device etc.• Continuum Robot Project: Shape reconstruction using projection of geometrical primitives (cylinders,circles etc.), differentiable rendering and perform visual servoing control. Show less

• Simultaneous localization and mapping (SLAM) of mobile robotic platform under ROS.• Autonomous initialization through computer vision approaches using aruco markers (QR codes).• Autonomous navigation of the mobile robot including path planning, obstacle avoidance.• Shared control theory development and implementation of the mobile platform.• Design of PHP/HTML-based web user interface.• Experimental tests in Verona, Italy.

• Modeling and control KUKA LWR4+ robotic arm using ROS and Gazebo: motion control, trajectory planning, master-slave teleoperation.• Modeling and control of flexible continuum surgical tool: static tension-deflection model, Euler-Lagrange dynamics, port-Hamiltonian based control.• Analysis of several continuum structure prototypes: variation of design (notches, single-backbone,articulated).• Develop teleoperation framework using haptic devices (Sigma.7).• Preliminary study… Show more • Modeling and control KUKA LWR4+ robotic arm using ROS and Gazebo: motion control, trajectory planning, master-slave teleoperation.• Modeling and control of flexible continuum surgical tool: static tension-deflection model, Euler-Lagrange dynamics, port-Hamiltonian based control.• Analysis of several continuum structure prototypes: variation of design (notches, single-backbone,articulated).• Develop teleoperation framework using haptic devices (Sigma.7).• Preliminary study of simulation platform for flexible surgical tools using SOFA (Simulation OpenFramework Architecture). Show less

• Develop teleoperation of a single-port abdominal robotics surgical system using haptic devices (i.e., PHANTOM Omni, Novint Falcon, Omega.3) and joysticks (i.e., Logitech G Extreme 3D, Microsoft Xbox).• Modeling and control of a tendon-driven articulated end-effector: kinematics, motion control, master slave teleoperation.• Model-based uncertainties identification and compensation: hysteresis, friction.• Modeling and control of a 4 DOFs positioning arm (parallel mechanisms) :… Show more • Develop teleoperation of a single-port abdominal robotics surgical system using haptic devices (i.e., PHANTOM Omni, Novint Falcon, Omega.3) and joysticks (i.e., Logitech G Extreme 3D, Microsoft Xbox).• Modeling and control of a tendon-driven articulated end-effector: kinematics, motion control, master slave teleoperation.• Model-based uncertainties identification and compensation: hysteresis, friction.• Modeling and control of a 4 DOFs positioning arm (parallel mechanisms) : kinematics, motion control, master-slave teleoperation.• Caculation of the RCM point of positioning arm.• Modeling and control (based on gait analysis) of a powered lower limb orthosis for rehabilitation.• SLAM algorithm (build on ROS) of autonomous mobile robots for medical transportation in hospitals. Show less