Details of Grant 

EPSRC Reference:	EP/R009708/1
Title:	DEFCOBOT (Design for Control of Flexible Robots)
Principal Investigator:	Rodriguez y Baena, Professor FM
Other Investigators:	Astolfi, Professor A
Researcher Co-Investigators:	Dr E Franco
Project Partners:	Imperial College Healthcare NHS Trust SUPELEC
Department:	Mechanical Engineering
Organisation:	Imperial College London
Scheme:	Standard Research
Starts:	01 November 2017	Ends:	31 October 2019	Value (£):	239,439
EPSRC Research Topic Classifications:	Control Engineering Robotics & Autonomy
EPSRC Industrial Sector Classifications:	Healthcare Energy
Related Grants:
Panel History:	Panel Date Panel Name Outcome 02 Aug 2017 Engineering Prioritisation Panel Meeting 2 August 2017 Announced
Summary on Grant Application Form
Flexible robots have light and compliant bodies that allow them to adapt well to unstructured environments. However, due to their deformability, controlling their movements accurately in the presence of disturbances is a challenging task. Additionally, the design and manufacturing of flexible robots is generally conducted without prior analysis of their dynamic performance and involves refinements through successive prototypes. These factors reduce the accuracy and effectiveness of flexible robots in real-world applications, including surgery, inspection and maintenance. Finally, bespoke design and control solutions confine advances in these areas to specific cases. This research aims to produce advanced control methods and design guidelines for different types of flexible robots in order to enhance their performance. To demonstrate the general validity of the proposed methods we have chosen two illustrative applications from our own track record: robot-assisted biopsy and robotic inspection. In the experimental part of the project, the control methods will be validated with two proof-of-concept prototypes from our recent work that are representative of each application. Successful completion of this research will contribute to enhancing the accuracy and effectiveness of flexible robots which is an essential prerequisite for their wider use. Potential applications of the research findings include minimally-invasive robotic surgery, robotic inspection and maintenance.
Key Findings
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Potential use in non-academic contexts
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Impacts
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Further Information:
Organisation Website:	http://www.imperial.ac.uk