I take robotics research onto real hardware. PhD in continuum surgical robotics at QUT; since then industrial robotics and additive manufacturing at CSIRO, and now human–robot interaction at the University of Melbourne.
I'm a Postdoctoral Research Fellow at the University of Melbourne, working on physical human–robot collaboration across the Department of Mechanical Engineering and the Computational Human–Robot Interaction (CHRI) Laboratory.
Before that I spent three years at CSIRO Manufacturing on industrial robotics and additive manufacturing, and my PhD at QUT was on tendon-driven continuum manipulators for surgery. Most of the code here comes from that PhD work — the industrial and HRI work isn't public.
- SnakeRaven-Project — real-time C++/ROS control stack for a tendon-driven snake-like manipulator mounted on the RAVEN II surgical robot, with the vision system that steers it. The integrated system behind Razjigaev et al., IROS 2021.
- DesignAlgorithm_SnakeRaven — design-optimisation algorithm that generates patient-specific continuum manipulators from an anatomical target. Companion code for Razjigaev et al., IEEE Transactions on Robotics, 2022.
- Robotics-Club-Robot-arm — a 4-DOF Raspberry Pi arm with inverse-kinematic teleoperation and uncalibrated visual pick-and-place, built with a workshop curriculum around it for the QUT Robotics Club.
- ndi_tracker_project — electromagnetic tracking code used to validate the SnakeRaven kinematics against measured tip pose.
Most of the above needs the hardware. If you want to run something: SnakeRavenSimulation and SnakeRaven_IBVS_simulation are MATLAB simulations of the kinematics and the visual servoing, and they run standalone.
Continuum and snake-like manipulator design, teleoperation and visual servoing for surgical robots, or reproducing anything in the repositories above.