Multi-arm and Constrained Manipulation in Robotics

Project Overview

This project focuses on the fundamental aspects of constrained manipulation using multiple robotic arms in critical applications such as surgical, space, scientific, and nuclear domains. Dexterous manipulation in constrained spaces with guaranteed safe control under changing environments is essential to avoid catastrophic failures.

Solutions like control-barrier functions exist for safe robot control; however, reactive capabilities are required to handle deformable or biological materials and workspace topology changes due to object or surface removal. The robotic system may be fixed, mobile, or legged but must possess arms for efficient manipulation.

What You Will Do

• Develop effective model-based constrained optimisation approaches for dexterous manipulation in constrained workspaces using multiple robotic arms.
• Explore data-driven approaches to represent dynamic environments and integrate this information into model-based control methods.
• Work primarily at the University of Manchester, with access to advanced robotics facilities including UR30, UR3e, KUKA R820 Med, Kinova arms, and a variety of aerial, mobile, and legged robots.

Expected Outcomes

Creation of novel algorithms and control strategies that enable safe, adaptive, and efficient manipulation in cluttered and dynamic environments. Tools developed may advance robotic deployment in delicate, high-stakes domains, enhancing safety and operational capabilities.

Why This Matters

Robotics in constrained, critical environments demands precision and safety to prevent harm and mission failure. The project's advances improve robotic autonomy and reliability in complex real-world settings, unlocking new potential for robotic applications in surgery, space exploration, nuclear operations, and scientific research.