Robotics · manipulation · human–robot interaction
I develop robotic systems for manipulation, locomanipulation, and human–robot interaction.
My research brings together learning, perception, planning, control, and hardware experiments across field, industrial, and assistive robotics.
Technical lead for manipulation and locomanipulation in an industry-funded field robotics project at USP.
Recent work
Open-vocabulary shared autonomy
Potential-field assistance with collision-aware MPC
Perception, control, and hardware results from work developed with collaborators.
Shared autonomy
The operator selects a target with a free-form prompt and controls Spot through arm motion and hand gestures. The robot tracks the target, avoids collisions, and assists the final approach.
Mobile manipulation
The operator names an object in the scene. The system segments it, completes the partial RGB-D geometry, selects a collision-free 6-DoF grasp, and executes it on Spot.
Human-guided control
An RGB-D camera maps the operator's wrist motion to Spot's arm. Trajectory planning prevents collisions, and hand gestures trigger grasping.
Most projects are tested on physical systems under real-time, sensing, and collision constraints.
Research overviewOpen-vocabulary perception, grasping, collision-aware planning, and platform-conditioned navigation on physical robots.
RGB-D, EMG, and lightmyography interfaces for motion, target, gesture, and force commands.
2026
All shared-control trials succeeded. Minimum obstacle clearance was 18 cm during deliberately unsafe commands.
2026
Capability conditioning produces different traversability predictions for legged and wheeled robots from the same scene.
2025
An RGB-D camera maps wrist motion to Spot's arm. Shared control handles collision avoidance and grasp execution.
2023
A wearable optical interface decodes gestures and grasp force from tissue deformation using raw lightmyography signals.
![[IROS 2026] Towards Capability-Aware Traversability Navigation for Unstructured Environments](https://i.ytimg.com/vi/6MZS3EgpG2I/hqdefault.jpg)
