3 papers
eess.SY2025
Collaborative Drill Alignment in Surgical Robotics
Daniel Larby, Joshua Kershaw, Matthew Allen +1
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with t…
cs.RO2024
Optimal Virtual Model Control for Robotics: Design and Tuning of Passivity-Based Controllers
Daniel Larby, Fulvio Forni
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful…
cs.RO2022
A Passivity Preserving H-infinity Synthesis Technique for Robot Control
Daniel Larby, Fulvio Forni
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there i…