Dr Claudio Gaz
Faculties, departments and locations
- Faculty of Engineering, Computing and the Environment
- Department of Mechanical Engineering
- School of Engineering
- Roehampton Vale
Senior Lecturer in Mechatronics, Control and Autonomous Systems
- Email:
- [email protected]
About
My research interests are: control, robotics, mathematical modelling, parameter identification, physical human-robot interaction.
I am a senior lecturer in mechatronics, control and autonomous systems at Kingston University London.
Previously, I was a post-doc researcher at Sapienza Università di Roma (Italy), where I received a masters degree in Control Engineering with the highest mark in 2011 and a PhD in Automation and Operational Research in 2016. I received in 2019 the French national qualification as maître de conférences for the class 61 (Génie informatique, automatique et traitement du signal).
My main interests are mathematical modelling, parameter identification and control of robotics and biological systems. In particular, I dealt with the dynamic parameters identification of well-known manipulators, such as the KUKA LWR, the Universal Robots UR10, the Kinova Jaco Arm 2 and the Franka Emika Panda. I was a visiting researcher at Airbus (Airbus Group) in Paris (France) and at the German Aerospace Center (DLR) in Munich (Germany). I also collaborated with the Italian National Research Council (CNR-IASI) on issues concerning the control of glycemia for insulin-resistant patients.
Qualifications
- PhD in Automation (Sapienza University, Rome, Italy)
- Fellowship of the Higher Education Academy (FHEA) (UK national qualification)
- Maître de conférences (MCF) for the class 61 -Génie informatique, automatique et traitement du signal (French National Qualification)
Domains
I have experience in teaching Mechanical Engineering topics such as: Robotics, Control, Calculus and Linear Algebra.
Teaching experience
- [A.Y. 2022-23] Engineering, Mathematics and Computing (level 4 students), Computational Methods in Engineering and Control (level 6 students), Mechatronics, Dynamics and Control (level 6 students), Control System with Embedded Implementation (level 7 students), Mechatronic Design and Automation (level 7 students) at Kingston University London; Basics on Industrial Robotics (Fondamenti di Robotica Industriale) at UNINETTUNO University, Rome, Italy.
- [A.Y. 2021-22] Engineering, Mathematics and Computing (level 4 students), Computational Methods in Engineering and Control (level 6 students), Mechatronics, Dynamics and Control (level 6 students), Mechatronic Design and Automation (level 7 students) at Kingston University London; Basics on Industrial Robotics (Fondamenti di Robotica Industriale) (Master students) at UNINETTUNO University, Rome, Italy; Control of Electromechanical Systems (Master students) at Sapienza University of Rome, Italy.
- [A.Y. 2018-19 to A.Y. 2020-21] Basics on Industrial Robotics (Fondamenti di Robotica Industriale) (Master students) at UNINETTUNO University, Rome, Italy; Control of Electromechanical Systems (Master students) at Sapienza University of Rome, Italy.
- [A.Y. 2016-17 and A.Y. 2017-18] Teaching assistant (tutor) for the course of Mathematical Analysis 2 (Analisi Matematica 2) for the students of Management Engineering (Ingegneria Gestionale) (UG students) at Sapienza University of Rome, Italy.
Courses taught
My research is focused on dynamic modelling, parameter identification and control of industrial manipulators (such as KUKA LightWeight Robot, Universal Robots UR10, Franka Emika Panda). Having a dynamic model at disposal allowed us to implement ad hoc control laws and, for instance, concerning physical Human-Robot Interaction (pHRI), understand if an undesired collision with an obstacle or a human occurred.
A further area of research on which I am currently focusing is the mathematical modelling and control of biological processes, such as glucose homeostasis.
Research collaborations
- Sapienza Università di Roma, Department of Computer, Control and Management Engineering
- National Research Council of Italy (CNR-IASI)
Specialisms
- Control Systems
- Robotics
- Mathematical Modelling / Parameter Identification
- Physical Human-Robot Interaction (pHRI)
- Glucose Homeostasis
Publications
Kinematic control of redundant robots with online handling of variable generalized hard constraints
Kazemipour, Amirhossein, Khatib, Maram, Khudir, Khaled Al, Gaz, Claudio and De Luca, Alessandro, 2022, IEEE Robotics and Automation Letters (7), 4pp 9279-9286, Published
On-line learning for planning and control of underactuated robots with uncertain dynamics
Turrisi, Giulio, Capotondi, Marco, Gaz, Claudio, Modugno, Valerio, Oriolo, Giuseppe and De Luca, Alessandro D., 2022, IEEE Robotics and Automation Letters (7), 1pp 358-365, Published
Validation of a simplified-geometry model of inhaled formoterol pharmacodynamics in asthmatic patients
Panunzi, Simona, Gaz, Claudio, Cibella, Fabio and De Gaetano, Andrea, 2022, Frontiers in Physiology (13), Published
Online needle-tissue interaction model identification for force feedback enhancement in robot-assisted interventional procedures
Ferro, Marco, Gaz, Claudio, Anzidei, Michele and Vendittelli, Marilena, 2021, IEEE Transactions on Medical Robotics and Bionics (3), 4pp 936-947, Published
Dynamic identification of the Franka Emika Panda robot with retrieval of feasible parameters using penalty-based optimization
Gaz, Claudio, Cognetti, Marco, Oliva, Alexander, Giordano, Paolo Robuffo and de Luca, Alessandro, 2019, IEEE Robotics and Automation Letters (4), 4pp 4147-4154, Published
Consistency of compact and extended models of glucose-insulin homeostasis: the role of variable pancreatic reserve
De Gaetano, Andrea, Gaz, Claudio and Panunzi, Simona, 2019, PLoS ONE (14), 2, Published
A model-based residual approach for human-robot collaboration during manual polishing operations
Gaz, Claudio, Magrini, Emanuele and De Luca, Alessandro, 2018, Mechatronics (55), 2018pp 234-247, Published
Simulation of trauma incidents: modelling the evolution of patients and resources
Borri, Alessandro, Panunzi, Simona, Brancaleoni, Rachele, Gui, Daniele, Magalini, Sabina, Gaz, Claudio R. and Gaetano, Andrea De, 2016, Journal of Medical Systems (40), 11, Published
A unifying organ model of pancreatic insulin secretion
De Gaetano, Andrea, Gaz, Claudio, Palumbo, Pasquale and Panunzi, Simona, 2015, PLoS ONE (10), 11, Published
A geometrical approach to the PKPD modelling of inhaled bronchodilators
Gaz, Claudio, Cremona, George, Panunzi, Simona, Patterson, Beverley and De Gaetano, Andrea, 2012, Journal of Pharmacokinetics and Pharmacodynamics (39), 5pp 415-428, Published
Towards AI-enhanced autonomous disassembly for WEEE recycling
Akkawi, Mahmoud, Jiang, Pingfei, Talami, Filippo, Hadjivelichkov, Denis, Kanoulas, Dimitrios, Modugno, Valerio and Gaz, Claudio (2025). Cham, Switzerland: Springer Cham [Accepted/In press]
A nonlinear observer for a flexible robot arm and its use in fault and collision detection
Gaz, Claudio, Cristofaro, Andrea, Palumbo, Pasquale and De Luca, Alessandro (2022). [Published]
Identification of robot dynamics from motor currents/torques with unknown signs
Pennese, Marco, Gaz, Claudio, Capotondi, Marco, Modugno, Valerio and De Luca, Alessandro (2021). [Published]
Detection and isolation of actuator faults and collisions for a flexible robot arm
Gaz, Claudio, Cristofaro, Andrea and De Luca, Alessandro (2020). pp 2684-2689 [Published]
Learning feedback linearization control without torque measurements
Capotondi, Marco, Turrisi, Giulio, Gaz, Claudio, Modugno, Valerio, Oriolo, Giuseppe and De Luca, Alessandro (2020). [Published]
An online learning procedure for feedback linearization control without torque measurements
Capotondi, M., Turrisi, G., Gaz, C., Modugno, V., Oriolo, G. and De Luca, A. (2019). [Published]
Experiences in safe physical human-robot interaction
Al Khudir, K., Buondonno, G., Gaz, C., Khatib, M., Magrini, E. and De Luca, A. (2019). [Published]
Enhancing force feedback in teleoperated needle insertion through on-line identification of the needle-tissue interaction parameters
Cacciotti, Niccolo, Cifonelli, Antonio, Gaz, Claudio, Paduano, Valerio, Russo, Antonio V. and Vendittelli, Marilena (2018). pp 79-85 [Published]
Payload estimation based on identified coefficients of robot dynamics - With an application to collision detection
Gaz, Claudio and De Luca, Alessandro (2017). pp 3033-3040 [Published]
Effective control of glycemia using a simple discrete-delay model
Gaz, Claudio, De Gaetano, Andrea, Manes, Costanzo, Palumbo, Pasquale, Borri, Alessandro and Panunzi, Simona (2017). pp 13526-13531 [Published]
Modelling trauma physiology for large crisis management
Borri, Alessandro, Dimopoulos, Christos, Panunzi, Simona, Brancaleoni, Rachele, Gaz, Claudio Roberto, Gui, Daniele, Magalini, Sabina and De Gaetano, Andrea (2016). pp 78-84 [Published]
Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods
Gaz, Claudio, Flacco, Fabrizio and De Luca, Alessandro (2016). pp 2075-2081 [Published]
Modelling and simulation for major incidents: an innovative approach to medical response
Pacciani, Eleonora, Borri, Alessandro, Soave, Paolo Maurizio, Gui, Daniele, Magalini, Sabina, Panunzi, Simona, Gaz, Claudio Roberto, Gaudio, Pasquale, Malizia, Andrea and De Gaetano, Andrea (2015). pp 297-303 [Published]
Identifying the dynamic model used by the KUKA LWR: a reverse engineering approach
Gaz, Claudio, Flacco, Fabrizio and De Luca, Alessandro (2014). pp 1386-1392 [Published]
Data-driven modeling of diabetes progression
Panunzi, Simona, Palumbo, Pasquale, Gaz, Claudio, Hardy, Thomas and DeGaetano, Andrea (2014). In: Mitsis, Georgios, Marmarelis, Vasilis, (eds.), London, U.K.: Springerpp 165-186 [Published]
An islet population model of pancreatic insulin production
De Gaetano, Andrea, Gaz, Claudio, Giorgi, Claudio Gori and Palumbo, Pasquale (2013). pp 3355-3360 [Published]
Demo abstract: plants as sensing devices : the PLEASED experience
Manzella, V., Gaz, C., Vitaletti, A., Masi, E., Santopolo, L., Mancuso, S., Salazar, D. and De Las Heras, J. J. (2013). [Published]
Consumer electronic redesign for automated disassembly using general-purpose robots
Akkawi, Mahmoud, Talami, Filippo, Romero, Maximiliano, Modugno, Valerio, Jiang, Pingfei and Gaz, Claudio(2025). [Published]
A nonlinear observer for a flexible robot arm and its use in fault and collision detection
Gaz, Claudio, Cristofaro, Andrea, Palumbo, Pasquale and De Luca, Alessandro(2022). [Published]
Kinematic control of redundant robots with online handling of variable generalized hard constraints
Khatib, Maram, Al Khudir, Khaled, Gaz, Claudio Roberto, De Luca, Alessandro and Kazemipour, Amirhossein(2022). [Accepted/In press]
Identification of robot dynamics from motor currents/torques with unknown signs
Pennese, Marco, Gaz, Claudio, Capotondi, Marco, Modugno, Valerio and De Luca, Alessandro(2021). [Published]
Detection and isolation of actuator faults and collisions for a flexible robot arm
Gaz, Claudio, Cristofaro, Andrea and De Luca, Alessandro(2020). [Published]
Learning feedback linearization control without torque measurements
Capotondi, Marco, Turrisi, Giulio, Gaz, Claudio, Modugno, Valerio, Oriolo, Giuseppe and De Luca, Alessandro(2020). [Published]
A framework for sensorless identification of needle-tissue interaction forces in robot-assisted biopsies
Ferro, Marco, Gaz, Claudio and Vendittelli, Marilena(2020). [Published]
An online learning procedure for feedback linearization control without torque measurements
Capotondi, M., Turrisi, G., Gaz, C., Modugno, V., Oriolo, G. and De Luca, A.(2019). [Published]
Experiences in safe physical human-robot interaction
Al Khudir, K., Buondonno, G., Gaz, C., Khatib, M., Magrini, E. and De Luca, A.(2019). [Published]
Enhancing force feedback in teleoperated needle insertion through on-line identification of the needle-tissue interaction parameters
Cacciotti, Niccolo, Cifonelli, Antonio, Gaz, Claudio, Paduano, Valerio, Russo, Antonio V. and Vendittelli, Marilena(2018). [Published]
Payload estimation based on identified coefficients of robot dynamics - With an application to collision detection
Gaz, Claudio and De Luca, Alessandro(2017). [Published]
Effective control of glycemia using a simple discrete-delay model
Manes, Costanzo, Palumbo, Pasquale, Borri, Alessandro, Panunzi, Simona, Gaz, Claudio and De Gaetano, Andrea(2017). [Published]
Modelling trauma physiology for large crisis management
Borri, Alessandro, Dimopoulos, Christos, Panunzi, Simona, Brancaleoni, Rachele, Gaz, Claudio Roberto, Gui, Daniele, Magalini, Sabina and De Gaetano, Andrea(2016). [Published]
Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods
Gaz, Claudio, Flacco, Fabrizio and De Luca, Alessandro(2016). [Published]
Modelling and simulation for major incidents: an innovative approach to medical response
Magalini, Sabina, Panunzi, Simona, Gaz, Claudio Roberto, Gaudio, Pasquale, Malizia, Andrea, De Gaetano, Andrea, Pacciani, Eleonora, Borri, Alessandro, Soave, Paolo Maurizio and Gui, Daniele(2015). [Published]
A simplified, geometrical approach to the PKPD of inhaled bronchodilators
Panunzi, Simona, Cremona, George, Patterson, Beverley, Gaz, Claudio Roberto and De Gaetano, Andrea(2014). [Published]
Population-of-controllers model explains heterogeneous insulin secretion experiments
De Gaetano, Andrea, Gaz, Claudio Roberto, Palumbo, Pasquale and Panunzi, Simona(2014). [Published]
Identifying the dynamic model used by the KUKA LWR: a reverse engineering approach
Gaz, Claudio, Flacco, Fabrizio and De Luca, Alessandro(2014). [Published]
An islet population model of pancreatic insulin production
De Gaetano, Andrea, Gaz, Claudio, Giorgi, Claudio Gori and Palumbo, Pasquale(2013). [Published]
Demo abstract: plants as sensing devices : the PLEASED experience
Manzella, V., Gaz, C., Vitaletti, A., Masi, E., Santopolo, L., Mancuso, S., Salazar, D. and De Las Heras, J.J.(2013). [Published]