My current research is focused on safety-critical motion planning and control of underactuated robotic systems, while providing formal guarantees on their performance in the presence of modeling uncertainties and disturbances. The list of publications is provided below.
Keywords: inverse kinematics, parallel computing, serial manipulators, Denavit-Hartenberg, POSIX threads
I regularly teach undergraduate and graduate level courses and laboratories in the areas of Robotics, Mechatronics, Controls, and Embedded Systems. The list of recently developed courses is provided below.
This course is concerned with fundamentals of robotics. Topics include forward and inverse kinematics, velocity kinematics, introduction to dynamics and control theory, sensors, actuators, basic probabilistic robotics concepts, fundamentals of robotic vision, and robot ethics. Concepts in these subjects will be applied to robot manipulators and mobile robots. In addition, Robot Operating System (ROS) will be covered, and the concepts learned will be verified using realistic simulators.
This course explores the coupling between control theory and robotics through a balance of theory and application, and provides an in-depth coverage of control design for robotic manipulators and mobile robots. Topics include modeling of robot dynamics, linear and nonlinear control of robotic systems, robust and adaptive control, control of underactuated robots, and state-of-the-art advanced control concepts. Course projects will emphasize modeling, simulation and practical implementation of control systems for robotic applications.