Hybrid Systems
May 1, 2001
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1 min read
Goals
Force control and manipulation involving contacts are essentially hybrid control problems because of the inherent switching present in the dynamic behavior when the manipulator comes in contact with and leaves a surface. In this study, I used the game theoretic approach of hybrid control design is used to synthesize the least restrictive control law for a robotic manipulator to establish and maintain contact with a surface while keeping interaction forces within specified bounds.
Please refer to my publications for further information.
Authors
Nord Professor of Engineering
M. Cenk Cavusoglu is the Nord Professor of Engineering in Electrical, Computer, and Systems Engineering at Case Western Reserve University. He is also the director of the Medical Robotics and Computer Integrated Surgery (MeRCIS) Laboratory. His research focuses on medical robotics, haptics, human–machine interfaces, and control, spanning control, mechanism, and system design to AI-assisted interventions. He is a Fellow of AIMBE. He has led 12 federally funded projects as principal investigator, with a total budget over $12.6M, and has served on editorial boards for leading robotics and mechatronics journals. His work advances safe, precise, and intelligent robotic systems for surgery and image-guided interventions.