I am an MSCA Postdoctoral fellow at TU Delft with a deep interest in understanding the best way to make things move. I particularly enjoy working on nonlinear control and applying it to soft robots, which is what my MSCA project Soft-Scout is all about.
Updates about my research activities.
Soft-Scout focuses on controlling soft robots for advanced adaptivity and versatility in confined spaces, enabling safer and more precise inspection and maintenance in demanding environments.
Access to confined spaces is highly crucial, whether for repairing hard-to-reach aircraft engine parts, performing minimally invasive surgeries, or inspecting infrastructure after severe weather events.
The Soft-Scout project (Controlling Soft Robots for Advanced Adaptivity and Versatility in Confined Spaces) addresses these challenges by enabling a soft-bodied robot to autonomously navigate and accurately conduct tasks within confined areas. This leads to reduced human effort and improved quality of inspection and maintenance.
To address the complexity of soft robotic systems, the overarching objective of Soft-Scout is to develop and deploy control and learning frameworks that provide guarantees on precision and reliability, while equipping the robot with the autonomy and robustness needed to navigate unknown confined areas.
Develop an advanced shape control framework that enables a soft robot to perform various tasks in confined spaces with guaranteed precision.
Design a twofold learning strategy for autonomous navigation and robustness, allowing the robot to cope with uncertainties in real-world environments.
Experimentally validate the control and learning framework on a tentacle-shaped soft robot and integrate feedback from end users.
Compared to state-of-the-art rigid solutions, the elasticity of a soft robot’s body enables inherently safer navigation through confined areas, while the proposed framework supports robust and dexterous operation with clear precision and reliability margins.
Soft-Scout is aligned with the United Nations Sustainable Development Goals and European priorities, including the European Strategic Agenda and the Horizon Europe Missions, by addressing safer inspection, maintenance, and intervention in critical infrastructures and industrial systems.
Soft robotics, continuum robots, adaptive control, reinforcement learning, confined spaces, inspection and maintenance.
Research on soft robot control within the MSCA PF project Soft-Scout.
Conducting research on soft robotics and dynamic manipulation. Serving as a technical coordinator for the Horizon Europe project MUSAE. Task leader for the national project CircuBot.
Developing the control strategy for trajectory tracking for soft robots.
Developing the algorithms for low-cost stiffness estimation and nonlinear adaptive control for soft robots.
Developing and testing wavelet-based algorithms for faults detection in DC motors.
Analyzing the test systems for DC motors.
Signals and systems department with the main focus on system control and signal processing.
Signals and systems department.
