My research currently focuses on three main areas: physical human-robot interaction, multi-arm manipulation, and robot motion. However, this division is only “academic,” as these areas often overlap. For instance, I heavily use multi-arm manipulation representation to describe physical human-robot interactions. On the other hand, I work on theories coming from kinematics, dynamics, and control to describe both physical human-robot interactions and multi-arm manipulation.
Sometimes, however, I work on more "pure" topics, like robot kinematics and robot dynamics. More specifically, I'm working on a theory of robot motion, modeling and control, and task planning based on Dual Quaternion Algebra. This theory is inspired by the early works of An Tzu Yang, the most recent works of Roy Featherstone, and also J. M. Selig’s. Feel free to take a look at my publications.
The videos below illustrate part of my research. For a more comprehensive list of videos, please see this playlist.
Surgical/medical robotics
M. M. Marinho, B. V. Adorno, K. Harada, and M. Mitsuishi, “Dynamic Active Constraints for Surgical Robots Using Vector-Field Inequalities,” IEEE Transactions on Robotics, vol. 35, no. 5, pp. 1166–1185, Oct. 2019, DOI: 10.1109/TRO.2019.2920078.
M. M. Marinho, B. V. Adorno, et al., “A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces,” in 2019 International Conference on Robotics and Automation (ICRA), May 2019, pp. 2721–2727, DOI: 10.1109/ICRA.2019.8794363.
M. C. Bernardes, B. V. Adorno, P. Poignet, and G. A. Borges, “Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning,” Mechatronics, vol. 23, no. 6, pp. 630–645, Sep. 2013, DOI: 10.1016/j.mechatronics.2013.06.004.
M. C. Bernardes, B. V. Adorno, G. A. Borges, and P. Poignet, “3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation,” Journal of Control, Automation and Electrical Systems, vol. 25, no. 2, pp. 216–227, Apr. 2014, DOI: 10.1007/s40313-013-0104-4.
Cooperative manipulation
H. J. Savino, L. C. A. Pimenta, J. A. Shah, and B. V. Adorno, “Pose consensus based on dual quaternion algebra with application to decentralized formation control of mobile manipulators,” Journal of the Franklin Institute, vol. 357, no. 1, pp. 142–178, Jan. 2020, DOI: 10.1016/j.jfranklin.2019.09.045.
B. V. Adorno, P. Fraisse, and S. Druon, “Dual position control strategies using the cooperative dual task-space framework,” in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2010, pp. 3955–3960, DOI: 10.1109/IROS.2010.5650218.
Physical human-robot interaction
B. V. Adorno, A. P. L. Bó, and P. Fraisse, “Kinematic modeling and control for human-robot cooperation considering different interaction roles,” Robotica, vol. 33, no. 2, pp. 314–331, Feb. 2015, DOI: 10.1017/S0263574714000356.
M. de P. A. Fonseca, B. V. Adorno, and P. Fraisse, “Coupled Task-Space Admittance Controller Using Dual Quaternion Logarithmic Mapping,” IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6057–6064, Oct. 2020, DOI: 10.1109/LRA.2020.3010458.
Mobile manipulation, whole-body control, and constrained control
Cheah, Wei, Bruno Vilhena Adorno, Simon Watson, and Barry Lennox. 2022. “Set-Point Control for a Ground-Based Reconfigurable Robot.” In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Kyoto. (To appear.)
J. J. Quiroz-Omaña and B. V. Adorno, “Whole-Body Kinematic Control of Nonholonomic Mobile Manipulators Using Linear Programming,” Journal of Intelligent & Robotic Systems, vol. 91, no. 2, pp. 263–278, Aug. 2018, DOI: 10.1007/s10846-017-0713-4.
F. F. A. Silva and B. V. Adorno, “Whole-body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra,” Journal of Intelligent & Robotic Systems, vol. 91, no. 2, pp. 249–262, Aug. 2018, DOI: 10.1007/s10846-017-0686
J. J. Quiroz-Omana and B. V. Adorno, “Whole-Body Control With (Self) Collision Avoidance Using Vector Field Inequalities,” IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4048–4053, Oct. 2019, DOI: 10.1109/LRA.2019.2928783.
Dual Quaternion Algebra
B. V. Adorno and M. Marques Marinho, “DQ Robotics: A Library for Robot Modeling and Control,” IEEE Robotics & Automation Magazine, vol. 28, no. 3, pp. 102–116, Sep. 2021, DOI: 10.1109/MRA.2020.2997920.
35-minute talk about modeling, control, and planning using Dual Quaternion Algebra that I gave at the IROS 2020 Workshop Bringing geometric methods to robot learning, optimization and control.