Research Overview Flapping flight is one of the wonders of nature and has been studied vastly by biologists and fluid dynamicists. The level of dexterity, efficiency and grace […]
Geometric Modeling
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Ideal Fluid Flow
Research Overview Fluid mechanics has been studied in the literature using both the Lagrangian and Hamiltonian formalism. In the classical Hamiltonian theory for fluid dynamical systems, a fundamental […]
Overview Papers
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Fully-actuated Multirotor UAVs
Research Overview Several fully-actuated multirotor platforms have been introduced in the past decade to overcome the underactuation property of conventional multirotors. Full-actuation has been mainly realized by two […]
Overview Papers
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UAVs Now and Then
This article has been published as part of Ch.1 of my PhD thesis UAVs Then What the Wright brothers did on the 17th of December 1903 was a […]
Geometric Modeling
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Rigid Body Dynamics
This work has been published as Ch.4 of my PhD thesis. The study of rigid body modeling is central to the mathematical theories of robotics. The topic of […]
Aerial Physical Interaction
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Vision-based impedance control
Research Overview The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this […]
Overview Papers
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Twenty years of distributed port-Hamiltonian systems
Research Overview The port-Hamiltonian (pH) systems paradigm is a framework for the modeling, analysis, design, and control of complex dynamical systems. The mentioned complexity arises due to multi-physical […]
Awards
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IEEE SSRR 2019 Best Paper Award
During the IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), our work on Bayesian-optimized based impedance control won the Best Paper Award ! The paper was presented […]
Aerial Physical Interaction
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Bayesian-optimized impedance control
BEST PAPER AWARD WINNER OF IEEE SSRR 2019 Research Overview In impedance control, the contact force between the UAV’s end-effector and the environment is directly related to the […]
Aerial Physical Interaction
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Geometric Impedance Control
Research Overview In this work, we consider the problem of interaction control of fully-actuated UAVs in the port-Hamiltonian framework. The interaction behavior of an aerial robot can be […]
Dissemination
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ICRA2019 Poster
My poster presentation at the 2019 IEEE International Conference on Robotics and Automation (ICRA) which was held on 20-24 May 2019 in Montreal, Canada. The poster summarizes our conference […]
Dissemination
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Open House RAM UTwente
On Saturday 12 July, the University of Twente opened its beautiful campus to the general public to visit our Robotics and Mechatronic (RAM) Lab. During the Open House, children […]
Dissemination
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Seminar: Studium Generale UTwente
My Talk at the Studium Generale Symposium at the University of Twente, Enschede, The Netherlands. The symposium presents to the general public the current and emerging applications of […]
Nonlinear Control
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Quadrotor Control
Research Overview Unmanned Aerial Vehicles (UAVs) have attracted many researchers with different specialties during the last decade. One of the most popular vehicles is the quadrotor helicopter. Quadrotor […]
Nonlinear Control
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Twin Rotor MIMO system
Research Overview The twin rotor MIMO system (TRMS) is a aerodynamical laboratory setup which resembles a helicopter prototype designed for flight control experiments. The control system design of […]
Nonlinear Control
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Dynamic trajectory tracking of a car-like robot
Research Overview This video summarizes my BSc thesis work done at the Julius Maximilians University Weurzburg, Germany as part of my BSc degree in Mechatronics at the German […]