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SUMMARY:Passivity-based control of underactuated surgical robots - Enrico 
 Franco\, Imperial College
DTSTART:20231116T141500Z
DTEND:20231116T151500Z
UID:TALK208390@talks.cam.ac.uk
CONTACT:Fulvio Forni
DESCRIPTION:Soft robots are underactuated systems ideally suited for minim
 ally invasive surgery because of their compliance and inherent safety. Sim
 ilarly\, robotic systems for percutaneous interventions that employ slende
 r needles can be viewed as underactuated systems. In both cases\, underact
 uation further complicates the control problem\, which is already challeng
 ing due to the uncertainties characterizing the surgical environment and t
 o the stringent safety requirements. Passivity-based control methodologies
  represent a promising approach for underactuated systems\, since they do 
 not employ high gains thus allowing to preserve the compliance of these sy
 stems in closed-loop. This talk will present recent developments in passiv
 ity-based control of underactuated systems that account for the effect of 
 the actuator dynamics and for different classes of disturbances. The secon
 d part of the talk will illustrate experimental applications to soft robot
 ics and to needle insertion.\n\nThe seminar will be held in JDB Seminar Ro
 om\, Department of Engineering\, and online (zoom): https://newnham.zoom.u
 s/j/92544958528?pwd=YS9PcGRnbXBOcStBdStNb3E0SHN1UT09\n
LOCATION:Department of Engineering\, JDB Seminar Room\, and online (Zoom)
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