ORIentate Seminar, Oxford Robotics Institute, University of Oxford

ORIentate Seminar

ORIentate is the bi-weekly seminar series ran by the Oxford Robotics Institute (ORI). It is an opportunity for the ORI community to connect and share their work. We host diverse sessions ranging from presentations from our academics and students, tutorials on technical topics, and keynotes given by invited external speakers.

External research talks are open to all members of the University of Oxford community and are marked with an asterisk [*]. All other events are only for members and associates of the Oxford Robotics Institute.

Lead: Perla Maiolino

Postdoc Chairs: Joe Watson and Luigi Bonassi

Upcoming Talks

[*] 28 May 2026. Andy Morgan (Robotics and AI Institute): AthenaZero: a low-inertia, bimanual robot for dynamic manipulation

AthenaZero: a low-inertia, bimanual robot for dynamic manipulation

Speaker: Andy Morgan, (Robotics and AI Institute)

Location: Lecture Room 2, Engineering Science

Time: 3.30-5 PM

Abstract: AthenaZero is a bimanual manipulator designed to maximize control authority while minimizing inertia. By utilizing quasi-direct drive actuation and transmission remotization techniques, the system achieves an effective endpoint mass comparable to that of a human. Trading off trajectory tracking stiffness as compared to conventional high-impedance manipulators, this architecture reduces reflected inertia by an order of magnitude. This characteristic, coupled with high control authority due to our actuator design, makes AthenaZero exceptionally well-suited for dynamic manipulation, particularly in its ability to accelerate over a wide range of joint velocities. We describe the methodology that led to this design and demonstrate its capabilities on three baseball-inspired tasks: throwing, catching, and batting, which showcase complex interactions on human-comparable timescales where milliseconds matter. Our robot was capable of throwing at speeds in excess of 30 m/s, while catching and batting at speeds in excess of 14 m/s over a short 7.3 m distance

Bio: Andrew (Andy) Morgan is a Research Scientist at The Robotics & AI Institute in Cambridge, MA. He obtained his PhD from Yale University's GRAB Lab under the supervision of Prof. Aaron Dollar in March of 2023. In this adventure, he was the recipient of the NSF GRFP and the RSS: Pioneers awards. His research mainly focuses on planning, control, and design for robot hands, typically for the use-case of robot in-hand manipulation. During his PhD, he also spent time at Amazon Robotics AI and TU Darmstadt working with Prof. Jan Peters. At RAI, he focuses on the design and control of low-impedance, high-torque manipulators for pushing towards dynamic contact interactions with robots. For more information, visit his website: https://asmorgan24.github.io

[*] 28 May 2026. John J. Leonard, (MIT): Cooperative Underwater Robot Perception and Navigation

Cooperative Underwater Robot Perception and Navigation

Speaker: John J. Leonard, (MIT)

Location: Lecture Room 2, Engineering Science

Time: 3.30-5 PM

Abstract: This talk will review historical research on Simultaneous Localization and Mapping (SLAM) at Oxford and MIT and will describe several current research projects in our group that seek to seek to enable improved navigation and perception for underwater vehicles. Two key themes are increasing the expressive capacity of the environmental models used in SLAM systems (representation) and improving the performance of the algorithms used to estimate these models from data (inference). Our ultimate goal is to provide autonomous robots with a more comprehensive understanding of the world, facilitating life-long learning in complex dynamic environments and improved interactions with human teammates.

Bio: John J. Leonard is Samuel C. Collins Professor of Mechanical and Ocean Engineering in the MIT Department of Mechanical Engineering. He is also a member of the MIT Computer Science and Artificial Intelligence Laboratory (CSAIL). His research addresses the problems of navigation and mapping for autonomous mobile robots. He holds the degrees of B.S.E.E. in Electrical Engineering and Science from the University of Pennsylvania (1987) and D.Phil. in Engineering Science from the University of Oxford (1994). He is an IEEE Fellow (2014) and an AAAS Fellow (2020). Prof. Leonard is also a Technical Advisor at Toyota Research Institute. https://marinerobotics.mit.edu/

11 June 2026. Nick Hawes (ORI): How to Give a Presentation

ORGS Lecture Series: How to Give a Presentation

Speaker: Nick Hawes (ORI)

Location: TBC

Time: TBC

[*] 25 June 2026. Dieter Büchler (University of Alberta): TItle TBC

Past Talks

14 May 2026. Robotics Inclusive: Change starts with YOU: making the robotics field an inclusive space

Join us for an interactive roundtable discussion exploring how we can build a more inclusive, equitable, and accessible robotics community. This session will begin with a brief overview of key IDEA concepts and relevant insights shaping the field today, setting the stage for meaningful conversation. Participants will then break into small groups to reflect, share experiences, and discuss practical ways to foster a stronger sense of belonging in robotics. Through guided discussion and collective reflection, we will examine the roots of exclusion, its impact on individuals and communities, and the tangible actions we can each take to drive change.

We invite attendees from all backgrounds to contribute their perspectives, listen to others, and leave with a deeper understanding of how inclusivity can be advanced at both a personal and community level.

16 April 2026. Kaushik Jayaram (Imperial College London): Overcoming adaptability-agility trade-offs through body shape modulation

Overcoming adaptability-agility trade-offs through body shape modulation

Speaker: Kaushik Jayaram (Imperial College London)

Abstract: Animals such as mice, cockroaches and spiders have the remarkable ability to maneuver through challenging cluttered natural terrain and have been inspiration for adaptable legged robotic systems. We hypothesize that animals vary their body geometry and mechanics to overcome the adaptability-agility tradeoffs which limit the performance of traditional soft robots. Inspired by locomotion strategies of cockroaches and spiders, we present our results related to the above using Compliant Legged Autonomous Robotic Insect (CLARI), our insect-scale, origami-based quadrupedal robot capable of passive shape morphing and active shape shifting, and demonstrate novel behaviors such as omnidirectional confined legged locomotion. While the distributed compliance of such soft-legged robots enables them adapt to explore complex environments, their gait design, control, and motion planning enable agile locomotion. However, this is often challenging due to a large number of unactuated/underactuated degrees of freedom. Towards addressing this issue, we present a geometric motion planning framework for autonomous, closed kinematic chain articulated systems that is computationally effective and has a promising potential for onboard and real-time gait generation. Finally, combining experimental and modeling efforts, we will present the beginning of a framework that enables us to quantify tradeoffs associated with shape change notably with respect to agility and adaptability.

19 March 2026. Lorenzo Masia (Technical University of Munich): Wearable Robots and AI for Rehabilitation, Human Augmentation and Collaborative Robotics

Wearable Robots and AI for Rehabilitation, Human Augmentation and Collaborative Robotics

Speaker: Lorenzo Masia (Technical University of Munich)

5 March 2026. François Pomerleau (Université Laval): Autonomous Navigation in Harsh Environments

Speaker: François Pomerleau (Université Laval)

Location: LR1, Thom Building

Time: 3:30pm-4:30pm

Abstract: As the promise of autonomous cars keeps being delayed, more and more questions are raised about the accessibility of this technology in remote locations. Moreover, extreme meteorological events are on the rise with the concretization of climate change. This new reality stresses the importance of investigating how robust navigation algorithms are against harsh environmental conditions.

In an era of simulations and augmented datasets, this presentation will focus on our efforts in facing complex research questions through field robotics. Field robotics is a sub-community of researchers challenging theoretical simplifications with experimental work closer to real applications. During this talk, we will dive into our latest scientific results with an emphasis on lessons learned related to lidar-based mapping and navigation in subarctic conditions.

A few minutes will be reserved to explain how we are consolidating the Canadian robotics ecosystem and the opportunities it triggered for British researchers.

19 February 2026. Jana Tumova (KTH Royal Institute of Technology): Formal methods for robot planning and control

Formal methods for robot planning and control

Speaker: Jana Tumova (KTH Royal Institute of Technology; Visiting Professor at ORI)

Location: LR2, Thom Building

Time: 4pm-5pm

5 February 2026. Ethan Yifu Tao (ORI): Tutorial on SLAM and 3D Perception

Tutorial on SLAM and 3D Perception

Speaker: Ethan Yifu Tao (DRS-P Group, ORI)

Location: LR1, Thom Building

22 January 2026. Digby Chappell (ORI): Placing Humans at the Centre of Wearable Assistive Robotics and Technology

Placing Humans at the Centre of Wearable Assistive Robotics and Technology

Speaker: Digby Chappell (Oxford Robotics Institute)