Control Lab
Short projects
Event-based and bio-inspired control
Neuromorphic Control of Quadrupedal Robots, Dynamic balancing of feedback and feedforward in robotics, Event-based motor control, Control of compliant antagonistic actuation, Hybrid tracking with impacts, Hybrid model of a converyor belt, Tendon-driven robotic elephant trunk, Shape memory alloys for distributed actuation.
Actuation and sensing
Event-based tactile sensing, Shape memory alloys for distributed actuation, Robot localisation in polytunnels via RF technology, Capacitive soft skin for shape estimation, Soft hydraulic actuators, Modelling of stretch sensors for feedback control applications, Electromagnetic voice coils for robotics: an exploration of compliant, force-controlled actuators, Control of compliant antagonistic actuation, Distributed Sensing in Soft Robotics
Soft and flexible robotics
Modular robotic elephant trunk, Tendon-driven robotic elephant trunk, Distributed Sensing in Soft Robotics, Distributed Sensing in Soft Robotics as Observer Design, Control of compliant antagonistic actuation
Applied control, optimization, integration
Augmented Reality in Human-Robot Assembly, Robotic assisted animal surgery, Self-Balancing Bicycle, Optimal navigation for solar power flights, Optimal control of spacecraft attitude.
Useful resources and tools
Prototyping
3d printing: https://www.dysoncentre.eng.cam.ac.uk/3d-printing
Laser cutting: https://www.dysoncentre.eng.cam.ac.uk/laser-cutting
Soft silicone rubber: https://www.smooth-on.com/product-line/ecoflex/
Microcontroller programming: Computing Device Programming Activity, a simple way to learn Mbed OS
Modeling and simulation
Matlab, Simulink, and Simscape
SOFA - Simulation Open Framework Architecture
Webots robot simulator
Programming
Processing a flexible software sketchbook and a language for learning how to code
Anaconda, a useful distribution for Python programming
Julia (fast dynamic language from MIT)
Github (version system)
Toolboxes
Linear matrix inequalities and sum of squares: CVX-Matlab, CVX-Python, Yalmip
Optimization on manifolds: Manopt
Simulations of hybrid systems: Hybrid equations toolbox
Writing
Latex: The LaTeX project, CUED LaTeX, Overleaf (online editor)