In this episode I had a wonderful time talking with Dr Hamed Rahimi Nohooji and all about control of robotics! We discussed dealing with constraints using barrier Lyapunov functions, control considerations in human-robot interaction,  control objectives for soft robotics, co-design of soft robots, wind turbine control, and a whole lot more!

You can find the transcript for this episode at: https://coffeecontrollinks.short.gy/cDetOw

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References:

Hamed Rahimi Nohooji: https://www.uni.lu/snt-en/people/hamed-rahimi-nohooji/

Path planning of manipulators with flexible links: https://journals.sagepub.com/doi/full/10.5772/10524

Flexible robotics review: https://www.tandfonline.com/doi/full/10.1080/01691864.2013.839079

Moving obstacle avoidance paper: https://link.springer.com/article/10.1007/s00707-012-0799-5

PhD thesis: https://coffeecontrollinks.short.gy/FBl2X0

Adaptive control for robots with joint-space constraints: https://www.sciencedirect.com/science/article/pii/S0888327018301614
Control for robots with velocity constraints: https://www.sciencedirect.com/science/article/pii/S0016003217306269

CLF and CBF reviews: https://www.sciencedirect.com/science/article/pii/S1877050921019128

https://ieeexplore.ieee.org/abstract/document/8796030

Original progressive BLF paper: https://arxiv.org/pdf/2411.06288

Learning progressive BLFs: [Under review]

Romeo Ortega inControl episode: https://coffeecontrollinks.short.gy/s5WEDs

NNs for exoskeletons review: https://www.mdpi.com/2076-0825/14/1/16

Original paper by Nussbaum: https://www.sciencedirect.com/science/article/pii/016769118390021X

Chen Automatica Nussbaum function paper: https://www.sciencedirect.com/science/article/pii/S0005109818306423

Hamed’s Nussbaum function paper: https://www.sciencedirect.com/science/article/pii/S0020025518310417

Nussbaum functions for cyber attacks: https://onlinelibrary.wiley.com/doi/abs/10.1002/rnc.4749

Nussbaum functions for wind turbine control: https://ieeexplore.ieee.org/document/8403101

Neural impedance control paper: https://www.sciencedirect.com/science/article/pii/S0925231218301607

Hamed’s assist-as-needed control paper: https://www.araa.asn.au/acra/acra2016/papers/pap114s1.pdf

Wolbrecht paper: https://ieeexplore.ieee.org/document/4451797/

Shared autonomy in human-robot interaction: [Under review]

Adaptive PID control paper: https://www.sciencedirect.com/science/article/pii/S001600321930955X

Nussbaum function-based PID control: https://ieeexplore-ieee-org.soton.idm.oclc.org/document/10566270

Adapting PID gains using reinforcement learning: https://www.sciencedirect.com/science/article/pii/S1568494623011717

Wind turbine control paper: https://www.mdpi.com/1996-1073/12/24/4712 

Hamed’s hierarchical optimisation framework: https://ieeexplore.ieee.org/document/11020848

Model-based soft robotic control review: https://ieeexplore.ieee.org/document/10136424

Cossimo della Santina inControl episode: https://coffeecontrollinks.short.gy/Nj9YFu

Paper on soft robotic co-design: https://arxiv.org/abs/2505.03761

Gioele Zardini episode of co-design: https://open.spotify.com/episode/3upRUgZBy79tqihMy9BDsJ

Review of soft robots in space: https://advanced.onlinelibrary.wiley.com/doi/10.1002/aisy.202400785

Using physics-informed neural ODEs to control soft robots: https://www.scopus.com/pages/publications/105050598202

Experimental control of soft robots using PINNs: https://www.scopus.com/pages/publications/105021529003

Sustainable interaction for soft robotics: https://dl.acm.org/doi/10.1145/3776734.3794544

IFAC cosserat rod paper: [Accepted]

CSL paper on reachability constrained control: https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=11664472