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