Papers - Robotics

This list contains recent publications only and may not be complete. Please refer to Prof. Tomizuka's publications page for a comprehensive list.

  • W. Chen, and M. Tomizuka, "Estimation of Load Side Position in Indirect Drive Robots by Sensor Fusion and Kalman Filtering," in Proceedings of the 2010 American Control Conference, Baltimore, June 2010.
  • W. Chen, K. Kong, and M. Tomizuka, "Hybrid Adaptive Friction Compensation of Indirect Drive Trains," in Proceedings of the 2nd ASME Dynamic Systems and Control Conference (DSCC), Hollywood, Oct. 2009.
  • C.-H. Han, K. Kong, and M. Tomizuka (2009). "Sensor-based Controller Tuning of Robot Manipulators by Real-time Optimization," International IFAC Symposium on Robot Control (SYROCO), Japan, 2009.
  • Soo Jeon, Masayoshi Tomizuka and Tetsuaki Katou, "Kinematic Kalman Filter (KKF) for Robot End-Effector Sensing," ASME Journal of Dynamic Systems, Measurement and Control, Vol. 131, Iss. 2, February 2009.
  • Cheng-Huei Han, Chun-Chih Wang and M.Tomizuka, "Suppression of vibration due to transmission error of harmonic drives using peak filter with acceleration feedback," Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on, vol., no., pp.182-187, 26-28 March 2008.
  • Chun-Chih Wang and M.Tomizuka, "Sensor-based controller tuning of indirect drive trains," Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on, vol., no., pp.188-193, 26-28 March 2008.
  • Haifei Cheng and Masayoshi Tomizuka, "Vision-based Online Trajectory Generation For Contour Following," Proceedings of 2008 ISFA (2008 International Symposium on Flexible Automation), Atlanta, GA, USA, June 23-26, 2008.
  • Soo Jeon and Masayoshi Tomizuka, "Stability of Controlled Mechanical Systems with Ideal Coulomb Friction," ASME Journal of Dynamic Systems, Measurement, and Control, vol.130, no.1, January, 2008.
  • Soo Jeon and Masayoshi Tomizuka, "Stability of A Class of Relay Feedback Systems Arising in Controlled Mechanical Systems with Ideal Coulomb Friction," 17th IFAC World Congress 2008, Seoul Korea, June 2008.
  • Soo Jeon, Masayoshi Tomizuka and T. Katou, "A New Kinematic Kalman Filter for Robot End-Effecter Sensing," ASME IMECE 2007, Seattle WA, Nov. 2007.
  • Soo Jeon and Masayoshi Tomizuka, "Benefits of Acceleration Measurement in Velocity Estimation and Motion Control," Control Engineering Practice, vol. 15, no. 3., pp.325-332, 2007.
  • Soo Jeon and Masayoshi Tomizuka, "Stability of Controlled Mechanical Systems with Ideal Coulomb Friction," International Symposium on Flexible Automation, Osaka, Japan, July 2006.
  • Chun-Chih Wang and Masayoshi Tomizuka, "LMI-based Synthesis of Anti-windup Filters with Pole Constraints," IFAC World Congress, Prague, July 2005.
  • Soo Jeon and Masayoshi Tomizuka, "Limit Cycles Due to Friction Forces in Flexible Joint Mechanisms," IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.723-728, Monterey, CA, July 2005.
  • Soo Jeon and Masayoshi Tomizuka, "Benefits of Acceleration Measurements in Velocity Estimation and Motion Control," IFAC 3rd International Symposium on Mechatronic Systems, Sydney, Australia, Sep. 2004.
  • Chun-Chih Wang and Masayoshi Tomizuka, "Design of Robustly Stable Disturbance Observers Based on Closed Loop Consideration Using H/sub infinity / Optimization and Its Applications to Motion Control Systems," Proceedings of the 2004 American Control Conference, Vol.4, pp.3764-3769, Boston, MA, June 2004.
  • Dong-Jun Lee and Masayoshi Tomizuka, "Multirate Optimal State Estimation with Sensor Fusion,"Proceedings of the 2003 American Control Conference, Vol.4 pp. 2887-2892, Denver, CO, June 2003.
  • Erwin Satrya Budiman and Masayoshi Tomizuka, "The Application of Linear Conditioning to Maximize Actuator and Harmonic Drive Utilization on a Single-Joint Indirect-drive Unit,"Proceedings of the 2nd IFAC Conference on Mechatronic Systems, San Francisco, CA, pp.456-461, Dec. 2002.
  • E.S. Budiman and Masayoshi Tomizuka, "Lyapunov-Based Tuning of Motor Velocity Estimate for Coulomb Friction Compensation in a Flexible Joint Robot,"Proceedings of the 2002 Japan-USA Symposium on Flexible Automation, Hiroshima, Japan, pp.799-806, July 2002.
 

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