Research

Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks Learning methods excel at motion generation in the information domain but are not primarily designed for physical interaction in the energy domain. Impedance Control shapes physical interaction but requires task-aware tuning by selecting feasible impedance parameters. We p... Read More

A Physically Consistent Stiffness Formulation for Contact-Rich Manipulation Ensuring symmetric stiffness in impedance-controlled robots is crucial for physically meaningful and stable interaction in contact-rich manipulation. Conventional approaches neglect the change of basis vectors in curved spaces, leading to an asymmetric joint-space stiffn... Read More

Robot Control based on Motor Primitives: One of the major challenges in robotics is generating complex motor behavior that matches human capabilities. Motor primitives are fundamental building blocks of a controller, enabling dynamic robot behavior with minimal high-level intervention. By treating motor primitives as basic “modules,” different m... Read More

MIT-Novo Nordisk Artificial Intelligence Postdoctoral Fellows Program: In this project, I aim to quantify human arm movements using Differential Geometry and extend these techniques to neural data to explore how neural populations relate to motor control. By adapting current methods and applying advanced techniques to account for the non-linear ... Read More

Exp[licit]–An Educational Robot Modeling Software based on Exponential Maps: The derivation of a robot’s equation of motion is typically focused on placing multiple coordinate frames to express their kinematic and dynamic relationships. The Denavit-Hartenberg convention is commonly used to place the coordinate frames. While this approach is hig... Read More

Energy-aware robot control in physical human-robot interaction: For certification process of applications in physical human–robot interaction (pHRI), two major hazards are collisions and clamping scenarios. The implementation of safety measures in pHRI applications typically depends strongly on coordinates, e.g., to monitor the robot velocity ... Read More