Melbourne Robotics Laboratory

Publications

2012

S. Zhou, D. Oetomo, Y. Tan, I. Mareels, E. Burdet, Modelling individual human motor behaviour through model reference iterative learning control, accepted to IEEE Transactions on Biomedical Engineering on the 28th of Feb 2012.

KY Ng, CP Tan, D Oetomo, Disturbance Decoupled Fault Reconstruction using Cascaded Sliding Mode Observers, accepted for publication in Automatica on the 6th of September 2011.

2011

D. Lau, D. Oetomo, S Halgamuge, Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators using a Hybrid Analytical-Numerical Approach, ASME Journal of Mechanical Design, vol. 133, no. 7, pp. 071004(1-10) , July 2011; postprint: [pdf].

D. Soewandito, D. Oetomo, M.H. Ang Jr. Neuro-Adaptive Motion Control with Velocity Observer in Operational Space Formulation, Robotics and Computer Integrated Manufacturing, Volume 27, Issue 4, Pages 829-842, August 2011; postprint: [pdf].

P. Jimenez, B. Shirinzadeh, D. Oetomo, A. Nicholson Swarm aggregation and formation control for robots with limited perception, International Journal of Robotics and Automation (ACTA/IASTED), v 26, n 3, p 255-263, 2011.

S. Roosen, D. Oetomo, M. Galea, Online Estimation of Foot-Ground Friction Constraint for Bipedal Gait Robot Operation, Proc. the 15th International Conference on Mechatronics Technology (ICMT 2011), Nov 30 - Dec 2, 2011, Novotel Melbourne, page 574-579.

S-H Zhou, D Oetomo, Y Tan, E Burdet, I Mareels, Human Motor Learning Through Iterative Model Reference Adaptive Control, in Procs of the 18th World Congress of the International Federation of Automatic Control (IFAC), Aug 28-Sep 2, 2011, Milan; postprint: [pdf].

S-H. Zhou, D. Oetomo, Y. Tan, E. Burdet, and I. Mareels, Optimal learning gain selection in model reference iterative learning control algorithm for computational human motor systems, Procs of the Inaugural Australian Control Conference, Nov 10-11, 2011, Melbourne, p 338-344.

H. Mokhtarzadeh, C.H. Yeow, P.V.S. Lee, J.C.H. Goh and D. Oetomo, Muscles Recruitment of Lower Extremities in Different Landing Heights: Implication for ACL injury, in Procs. Orthopaedic Research Society (ORS) Annual Meeting, 13-16 January 2011, Long Beach, CA, paper number 0340.

2010

K. Harada, D. Oetomo, E. Susilo, A. Menciassi, D. Daney, J-P. Merlet, and P. Dario, A Reconfigurable Modular Robotic Endoluminal Surgical System, Robotica, Special Issue on Surgical Robots, vol. 28, no. 02, pp. 171-183, 2010; postprint: [pdf].

S. Zhou, D. Oetomo, I. Mareels, E. Burdet, Modelling of Human Motor Control in an Unstable Task through Operational Space Formulation, in Procs. IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2010, Singapore, 7-10 Dec 2010, pp 2030-2035; postprint: [pdf].

H. Mokhtarzadeh, C.H. Yeow, P.V.S. Lee, J.C.H. Goh and D. Oetomo, Understanding Anterior Cruciate Ligament Injury Due to Drop Landing: Effects of Different Landing Techniques and Muscles Action at the Knee Joint, in Procs. 6th World Congress of Biomechanics (IFMBE Proceedings), August 1-6, 2010 Singapore, 2010, vol. 31, part 1, pp 171-173.

D. Lau, T. Hawke, L. Kempton, D. Oetomo, and S. Halgamuge, Design and Analysis of 4-DOF Cable-Driven Parallel Mechanism, in Proceedings of the Australasian Conference on Robotics and Automation (ACRA 2010), Brisbane, 1-3 Dec 2010.

S. Zhou, D. Oetomo, I. Mareels, E. Burdet, Modelling of Human Motor Control in an Unstable Task through Operational Space Formulation, in Procs. IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2010, Singapore, 7-10 Dec 2010, pp 2030-2035.

2009

T.F. Khoo, D.H. Dang, J. Friend, D. Oetomo, and L. Yeo, Triple Degree-of-Freedom Piezoelectric Ultrasonic Micromotor via Flexural-Axial Coupled Vibration, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, vol. 56, no. 8, p 1716-24, Aug. 2009; postprint: [pdf].

D. Oetomo, D. Daney, J.-P. Merlet, Design Strategy of Serial Manipulators With Certified Constraint Satisfaction, IEEE Transactions on Robotics, vol.25, no. 1, p. 1-11, Feb 2009; postprint: [pdf].

D. Oetomo, M.H. Ang Jr., Singularity robust algorithm in serial manipulators, Robotics and Computer-Integrated Manufacturing, vol. 25, issue 1, pp 122-134, Feb 2009;

D. Oetomo, D. Daney, B. Shirinzadeh, J.-P. Merlet, An Interval-Based Method for Workspace Analysis of Planar Flexure-Jointed Mechanism, ASME Journal of Mechanical Design , vol. 131, issue 1, pp. 011014 (11 pages), Jan 2009.

D. Oetomo, D. Daney, K. Harada, J-P. Merlet, A. Menciassi, P. Dario, Topology Design of Surgical Reconfigurable Robots by Interval Analysis, Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, May 12-17, 2009, pp. 3085-3090;

2008

D. Oetomo and M.H. Ang Jr., Singularity-free actuation strategy for omnidirectional mobile platforms with powered offset caster wheels, ASME Journal of Mechanical Design , vol. 130, no. 5, pp 054501, May 2008;

D. Oetomo, D. Daney, B. Shirinzadeh, J.-P. Merlet, Certified Workspace Analysis of 3RRR Planar Parallel Flexure Mechanism, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena CA, May 19-23, 2008, pp. 3838-3843; postprint: [pdf].

D. Soewandito, D. Oetomo, M.H. Ang Jr, Neuro-Adaptive Motion Controller with Velocity Observer for Operational Space Formulation, Proceedings of the 17th IFAC World Congress, Seoul, Korea, July 6-11, 2008, vol 17, no.1;

Selected Earlier Publications

R.S. Jamisola, Jr., D. N. Oetomo, M.H. Ang, Jr., O. Khatib, T.M. Lim, and S.Y. Lim, Compliant Motion Using Mobile Manipulator: An Operational Space Formulation Approach to Aircraft Canopy Polishing, Advanced Robotics, Special Issue on Compliant Motion: Modeling, Planning and Control, vol. 19, no. 5, pp. 613-634(22) June 2005.

D. Oetomo and R. Jamisola and M. H. Ang and O. Khatib, Integration of torque controlled arm and velocity controlled base for mobile manipulation, ROMANSY 14, CISM Courses and Lectures, Eds. G. Bianchi, J. Guinot and C. Rzymkowski, no. 438, pp 189-200, Springer Wien New York, 2002.

D. Oetomo, M. H. Ang, and S. Y. Lim, Singularity handling on PUMA in operational space formulation, in Lecture Notes in Control and Information Sciences, Eds. Daniela Rus and Sanjiv Singh, Eds., vol. 271, pp. 491-501. Springer-Verlag, 2001.

D. Oetomo, Y.P. Li, M.H. Ang Jr., C.W. Lim, ‘Omnidirectional Mobile Robots with Powered Caster Wheels: Design Guidelines from Kinematic Isotropy Analysis," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2005), Edmonton, Alberta, Canada, 2-6 August, 2005, pp. 3034-3039.

Y.P. Li, D. Oetomo, M.H. Ang Jr., C.W. Lim, ‘Torque Distribution and Slip Minimization in an Omnidirectional Mobile Base‘, Proceedings of the 12th International Conference on Advanced Robotics (ICAR-05), Seattle, Washington, USA, 18-20 July, 2005, pp. 567-572 [pdf].


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Denny Oetomo

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F: +61 3 9347 8784

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Postal Address

Department of Mechanical Engineering
Building 170, Level 1
The University of Melbourne
Parkville, VIC 3010