Research
“Humans are allergic to change. They love to say, ‘We’ve always done it this way.’
I try to fight that.
That’s why I have a clock on my wall that runs counterclockwise.”
—Grace Hopper
That’s why I have a clock on my wall that runs counterclockwise.”
—Grace Hopper
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Robot Control based on Motor Primitives
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
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MIT-Novo Nordisk Postdoctoral Fellows Program
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
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Exp[licit]--An Educational Robot Modeling Software based on Exponential Maps
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
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Energy-aware robot control in physical human-robot interaction
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