efi robotics

engineering for intelligent robotics

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Group based in the School of Engineering Mathematics and Technology and led by Dr Efi Psomopoulou, Assistant Professor at the University of Bristol and Bristol Robotics Laboratory. Part of the Dexterous Robotics Theme.

Research areas

We aim to create dexterous and safe robotic physical interactions with the environment or humans in unstructured scenarios by combining control methods and machine learning techniques.

  • Stable object grasping and in-hand manipulation.
  • Human-inspired human-robot object handover strategies.
  • Control of flexible joint robots with variable elasticity.
  • Non model-based control of robotic systems with prescribed performance guarantees.
  • Bilateral teleoperation with haptic feedback.

latest posts

selected publications

  1. Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands
    Christopher Ford, Haoran Li, Manuel Giuseppe Catalano, Matteo Bianchi, Efi Psomopoulou, and Nathan F Lepora
    IEEE Transactions on Robotics, 2025
  2. CoRL
    AnyRotate: Gravity-Invariant In-Hand Object Rotation with Sim-to-Real Touch
    Max Yang, Chenghua Lu, Alex Church, Yijiong Lin, Christopher J. Ford, Haoran Li, Efi Psomopoulou, David A.W. Barton, and Nathan F. Lepora
    In 8th Annual Conference on Robot Learning, Proceedings of Machine Learning Research, 2024
  3. BioTacTip: A Soft Biomimetic Optical Tactile Sensor for Efficient 3D Contact Localization and 3D Force Estimation
    Haoran Li, Saekwang Nam, Zhenyu Lu, Chenguang Yang, Efi Psomopoulou, and Nathan F. Lepora
    IEEE Robotics and Automation Letters, 2024
  4. A Robust Controller for Stable 3D Pinching Using Tactile Sensing
    Efi Psomopoulou, Nicholas Pestell, Fotios Papadopoulos, John Lloyd, Zoe Doulgeri, and Nathan F. Lepora
    Robotics & Automation Letters, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021
  5. TCST
    Prescribed Performance Tracking of a Variable Stiffness Actuated Robot
    Efi Psomopoulou, Achilles Theodorakopoulos, Zoe Doulgeri, and George A Rovithakis
    IEEE Transactions on Control Systems Technology, Sep 2015