In this section

Mechatronics in Medicine

The MIM Lab develops robotic and mechatronics surgical systems for a variety of procedures.

Head of Group

B415C Bessemer Building
South Kensington Campus

+44 (0)20 7594 7046

What we do

The Mechatronics in Medicine Laboratory develops robotic and mechatronics surgical systems for a variety of procedures including neuro, cardiovascular, orthopaedic surgeries, and colonoscopies. Examples include bio-inspired catheters that can navigate along complex paths within the brain (such as EDEN2020), soft robots to explore endoluminal anatomies (such as the colon), and virtual reality solutions to support surgeons during knee replacement surgeries.

Meet the team

Mr Ayhan Aktas
Casual - Student demonstrator - lower rate

Dr Daniel Bautista Salinas
Research Associate

Dr Kaiwen Chen
Research Associate

Mr Zejian Cui
Research Assistant

Mr Connor Daly
Research Postgraduate

Emeritus Professor Brian L Davies FREng
Emeritus Professor

Mr Zhaoyang Jacopo Hu
Research Postgraduate

Dr Hisham M Iqbal
Research Associate

Mr Alex Ranne
Research Postgraduate

Professor Ferdinando M Rodriguez y Baena
Co-Director of Hamlyn Centre, Professor of Medical Robotics

Dr Jialei Shi
Research Associate

Mr Spyridon Souipas
Casual - Other work

Ms Emilia Zari
Research Postgraduate

Citation

BibTex format

@article{Franco:2018:10.1016/j.mechmachtheory.2018.09.001,
author = {Franco, E and Rodriguez, y Baena F and Astolfi, A},
doi = {10.1016/j.mechmachtheory.2018.09.001},
journal = {Mechanism and Machine Theory},
pages = {539--551},
title = {Robust balancing control of flexible inverted-pendulum systems},
url = {http://dx.doi.org/10.1016/j.mechmachtheory.2018.09.001},
volume = {130},
year = {2018}
}

Download

RIS format (EndNote, RefMan)

TY  - JOUR
AB  - This work studies the balancing control problem for flexible inverted-pendulum systems and investigates the relationship between system parameters and robustness to disturbances. To this end, a new energy-shaping controller with adaptive disturbance-compensation for a class of underactuated mechanical systems is presented. Additionally, a method for the identification of key system parameters that affect the robustness of the closed-loop system is outlined. The proposed approach is applied to the flexible pendulum-on-cart system and a simulation study is conducted to demonstrate its effectiveness. Finally, the control problem for a classical pendulum-on-cart system with elastic joint is discussed to highlight the similarities with its flexible-link counterpart.
AU  - Franco,E
AU  - Rodriguez,y Baena F
AU  - Astolfi,A
DO  - 10.1016/j.mechmachtheory.2018.09.001
EP  - 551
PY  - 2018///
SN  - 0094-114X
SP  - 539
TI  - Robust balancing control of flexible inverted-pendulum systems
T2  - Mechanism and Machine Theory
UR  - http://dx.doi.org/10.1016/j.mechmachtheory.2018.09.001
UR  - http://hdl.handle.net/10044/1/64104
VL  - 130
ER  -