Main PhD thesis work
This is my main PhD thesis research. It addresses the fundamental challenge of coordinating vehicle motion with manipulator control in integrated robotic platforms, with emphasis on geometric modelling, stability, and safe physical interaction.
Vehicle-manipulator systems represent a critical frontier in robotics, enabling applications from aerial manipulation to mobile manipulation in challenging environments.
Key Contributions
- Unified Port-Hamiltonian Framework
- Stability Analysis
- Safe Interaction Control
- Computational Efficiency
Applications
- Aerial Manipulation
- Mobile Manipulation
- Underwater Manipulation
- Space Robotics