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Sacha Morris

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Sacha is a is a postgraduate research student in the Department of Engineering at King's College London under the supervision of Dr Matthew Howard and Prof. Mark French. He completed his bachelor's degree in Electronic Engineering at King's College London, graduating in 2020 with first-class honours.

 

Research Project


His research project focuses on controlling impedance in robotic systems and how they can be managed so that their performance levels can rival their biological counterparts. The project looks at ground interactions and how compliant actuators respond to different ground types. The project aims to develop a legged variable impedance actuated hopper with variable damping that utilises the natural dynamics of passive elastic elements. Estimation-based Multi-Model Switched Adaptive Control (EMMSAC) is used to manage the impedance, damping and gait parameters, to produce highly robust and efficient multi-terrain locomotion. In addition to his PhD, he works as a sensors engineer assisting the biomedical engineering department with a device to assist the recovery of ICU survivors. He is also involved in a Transcampus project with TU Dresden assisting with research into the control of Hydrogels.

Research Interests

  • The applications of machine learning into robot control.
  • Impedance control of variable impedance actuators (VIA) with passive elastic elements.
  • Optimal control
  • Estimation based Multi-Model Switch Adaptive Control (EMMSAC).
  • Biology inspired robotic control.
  • Soft robotics control.

Contact

Department of Engineering

Strand Campus

King's College London, Strand,

London, WC2R 2LS

United Kingdom

Email:sacha[dot]morris@kcl.ac.uk