In this section

Human-Centred Automation, Robotics and Monitoring

We use perceptual methods, AI, and frugal robotics innovation to deliver transformative diagnostic and treatment solutions.

Head of Group

Dr George Mylonas

B415B Bessemer Building
South Kensington Campus

+44 (0)20 3312 5145

YouTube ⇒ HARMS Lab

What we do

The HARMS lab leverages perceptually enabled methodologies, artificial intelligence, and frugal innovation in robotics (such as soft surgical robots) to deliver transformative solutions for diagnosis and treatment. Our research is driven by both problem-solving and curiosity, aiming to build a comprehensive understanding of the actions, interactions, and reactions occurring in the operating room. We focus on using robotic technologies to facilitate procedures that are not yet widely adopted, particularly in endoluminal surgery, such as advanced treatments for gastrointestinal cancer.

Meet the team

Mr Amirhosein Alian
Research Postgraduate

Dr James P Avery
Honorary Lecturer

Mr Junhong Chen
Research Postgraduate

Mr Kaizhong Deng
Research Postgraduate

Dr George Mylonas BEng, MSc, DIC, PhD
Senior Lecturer in Robotics and Technology in Cancer

Dr Adrian Rubio Solis
Research Associate in Sensing and Machine Learning

Dr Jianlin Yang
Research Associate

Citation

BibTex format

@inproceedings{Runciman:2023:10.1109/ICRA48891.2023.10161573,
author = {Runciman, M and Franco, E and Avery, J and Rodriguez, y Baena F and Mylonas, G},
doi = {10.1109/ICRA48891.2023.10161573},
pages = {1--7},
publisher = {IEEE},
title = {Model based position control of soft hydraulic actuators},
url = {http://dx.doi.org/10.1109/ICRA48891.2023.10161573},
year = {2023}
}

Download

RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - In this article, we investigate the model based position control of soft hydraulic actuators arranged in an an-tagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach, which accounts for the pressure dynamics of the fluid. A nonlinear observer is included to compensate the effect of unknown external forces. Simulations demonstrate the effectiveness of the proposed approach, and experiments achieve positioning accuracy of 0.043 mm with a standard deviation of 0.033 mm in the presence of constant external forces up to 1 N.
AU  - Runciman,M
AU  - Franco,E
AU  - Avery,J
AU  - Rodriguez,y Baena F
AU  - Mylonas,G
DO  - 10.1109/ICRA48891.2023.10161573
EP  - 7
PB  - IEEE
PY  - 2023///
SP  - 1
TI  - Model based position control of soft hydraulic actuators
UR  - http://dx.doi.org/10.1109/ICRA48891.2023.10161573
UR  - https://ieeexplore.ieee.org/abstract/document/10161573
UR  - http://hdl.handle.net/10044/1/104013
ER  -