Alex Caldas
Head of the "Biomechanical and Medical Robotics" Master Program and Assistant Professor in Mechatronics
ESME
Overview of research area
Multifingered hands, dexterous manipulation, grasping, human-robot collision detection, robust control, LMI/BMI-based control, optimization
Short biography
I received the M.Sc. degree in mechatronics from ESME, Ivry-sur-Seine, France, and the M.Sc. degree in control design from Supélec, Gif-sur-Yvette, France, in 2010 and 2012 respectively, and I received the Ph.D. degree in robotics from Université Pierre et Marie Curie, Paris, in 2016. I am currently at the head of the « Biomechanical and Medical Robotics » Master Program and Assistant Professor in robotics at ESME. My research interests include dexterous manipulation for multifingered robotic hands and collision detection for robot manipulators.
Collaborations in progress
- Co-supervision of a PhD student with CentraleSupélec and the CEA LIST Interactive Robotics Lab.
Publications
- A. Caldas, M. Grossard, M. Makarov, and P. Rodriguez-Ayerbe, Task-level Dexterous Manipulation with Multifingered Hand Under Modeling Uncertainties, Journal of Dynamic Systems, Measurement, and Control, 2021.
- U. Vollhardt, M. Makarov, A. Caldas, M. Grossard, and P. Rodriguez-Ayerbe, Influence of the object stiffness on the grasp stability with compliant hand based on energetic approach, 21st IFAC World Congress, pp.9905-9911, Berlin, Germany, July 2020.
- A. Caldas, M. Makarov, M. Grossard, and P. Rodriguez-Ayerbe, LPV Modeling and Control for Dexterous Manipulation with a Multifingered Hand under Geometric Uncertainties, 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 826-832, Hong Kong, China, 2019.
- U. Vollhardt, M. Makarov, A. Caldas, M. Grossard, and P. Rodriguez-Ayerbe, Energy-based stability analysis for robust grasp selection with compliant multi-fingered hands, 2019 18th European Control Conference (ECC), pp.1592-1597, Naples, Italy, June 2019.
- A. Caldas, A. Micaelli, M. Grossard, M. Makarov, and P. Rodriguez-Ayerbe, Commande robuste aux incertitudes de contact appliquée à la manipulation dextre, Jeunes Chercheurs en Génie Électrique (JCGE), Arras, France, June 2017.
- A. Caldas, A. Micaelli, M. Grossard, M. Makarov, P. Rodriguez-Ayerbe, and D. Dumur, On task-decoupling by robust eigenstructure assignment for dexterous manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), pp.5654-5661, Hamburg, Germany, October 2015.
- A. Caldas, A. Micaelli, M. Grossard, M. Makarov, P. Rodriguez-Ayerbe, and D. Dumur, Object-level impedance control for dexterous manipulation with contact uncertainties using an LMI-based approach, 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 3668-3674, Seattle, WA, USA, May 2015.
- M. Makarov, A. Caldas, M. Grossard, P. Rodríguez-Ayerbe, and D. Dumur, Adaptive Filtering for Robust Proprioceptive Robot Impact Detection Under Model Uncertainties, IEEE/ASME Transactions on Mechatronics, Vol. 19, No. 6, pp. 1917-1928, December 2014.
- A. Caldas, A. Micaelli, M. Grossard, M. Makarov, P. Rodriguez-Ayerbe, and D. Dumur, New metric for wrench space reachability of multifingered hand with contact uncertainties, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1236-1242, Besançon, France, July 2014.
- A. Caldas, M. Makarov, M. Grossard, P. Rodriguez-Ayerbe, and D. Dumur, Adaptive residual filtering for safe human-robot collision detection under modeling uncertainties, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 722-727, Wollongong, NSW, Australia, July 2013.