Daniel Larby
Papers
2
Total Citations
9
H-Index
2
About
Daniel Larby is a rising researcher in the field of robotic control, with a focused expertise in impedance control, passivity-based design, and human-robot interaction. His work addresses a critical gap in robotics: how to systematically design controllers that ensure stable and safe physical interaction with the environment. Larby’s major contribution is a novel passivity-preserving H-infinity synthesis technique, which provides rigorous guidance for selecting optimal stiffness and damping parameters in impedance controllers—a problem long identified as lacking a formal solution. This work, his most cited to date with 6 citations, offers a powerful framework for guaranteeing stability during contact tasks. He has further extended these principles to the high-stakes domain of robotic minimally invasive surgery, where he developed a generalized approach to impedance control using virtual mechanisms. This energy-based method provides a versatile design tool for creating safe, compliant surgical robots. Larby’s research is foundational for advancing the reliability and performance of robots that must work safely alongside humans, from collaborative manufacturing to delicate surgical procedures.
Research Focus
Key Achievements
Top Papers
- 1A Passivity Preserving H-infinity Synthesis Technique for Robot Control6 citations · 2022
- 2