Motor control and human-robot cooperation

1) Bio-mimetic control

  • Controlling robots to mimic biological interaction control
  • Simplifying the architectural complexity
  • Remove or increase robustness of algorithms/controllers relying on projected inverse dynamics
  • Tested on real robots in multiple dexterous dynamics task

2) Human-Robot Interaction and Collaboration

  • Mechanical synchronisation of movements
  • Removing the need of sensor on the user to detect the motor intention
  • Can be used in teleoperation and manipulation simultaneously

3) Computational Neuroscience


  • Exploit geometric maps of the tasks to explain motor control
  • Take advantage of vibration theory to autotune the controller characteristic frequency
  • Minimise the computational complexity by exploiting the kineto-static duality and Port-Hamiltonian control