Robotics Publications

See this page for our bioengineering publications

Year 2024

1. I. Nozawa, E. Kamienski, C. O’Neill and H. H. Asada, “A Monte Carlo Approach to Koopman Direct Encoding and Its Application to the Learning of Neural-Network Observables,” in IEEE Robotics and Automation Letters, vol. 9, no. 3, pp. 2264-2271, March 2024, doi: 10.1109/LRA.2024.3354612.
2. R. Bolli and H. H. Asada, “Enhancing Elderly Mobility: A Sturdy, Two-Body Robot for Handlebar Placement in Any Location,” in IEEE Robotics and Automation Letters, 2024. doi: 10.1109/LRA.2024.3359549
3. E. Ballesteros, S.-Y. Lee, K. Carpenter, and H. H. Asada, “Supernumerary Robotic Limbs to Support Post-Fall Recoveries for Astronauts,” in IEEE International Conference on Robotics and Automation (ICRA), 2024.

Year 2023

1. E. A. Kamienski, P. Bonato and H. H. Asada, “Time-Critical Fall Prediction Based on Lipschitz Data Analysis and Design of a Reconfigurable Walker for Preventing Fall Injuries,” in IEEE Access, vol. 12, pp. 1822-1838, 2024, doi: 10.1109/ACCESS.2023.3347263.
2. K. Barhydt and H. H. Asada, “A High-Strength, Highly-Flexible Robotic Strap for Harnessing, Lifting, and Transferring Humans,” in IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 2110-2117, April 2023, doi: 10.1109/LRA.2023.3246389. [project page]
3. R. Bolli, P. Bonato, and H. H. Asada, “A Handle Robot for Providing Bodily Support to Elderly Persons,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, 2023.
4. R. Bolli and H. H. Asada, “A Data-Driven Approach to Positioning Grab Bars in the Sagittal Plane for Elderly Persons,” Late-Breaking Report,  in 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, South Korea, 2023.
5. Ravi Tejwani, Chengyuan Ma, Paolo Bonato, H. Harry Asada, “An Avatar Robot Overlaid with the 3D Human Model of a Remote Operator,” in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, 2023.
6. E. Ballesteros, B. Man and H. H. Asada, “Supernumerary Robotic Limbs for Next Generation Space Suit Technology,” in 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 7519-7525, doi: 10.1109/ICRA48891.2023.10161579.
7. H. H. Asada, “Global, Unified Representation of Heterogenous Robot Dynamics Using Composition Operators: A Koopman Direct Encoding Method,” in IEEE/ASME Transactions on Mechatronics, doi: 10.1109/TMECH.2023.3253599.
8. J. Ng and H. H. Asada, “Data-Driven Encoding: A New Numerical Method for Computation of the Koopman Operator,” in IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 3940-3947, July 2023, doi: 10.1109/LRA.2023.3273515.
9. J. Ng and H. H. Asada, “Learned Lifted Linearization Applied to Unstable Dynamic Systems Enabled by Koopman Direct Encoding,” in IEEE Control Systems Letters, vol. 7, pp. 1153-1158, 2023, doi: 10.1109/LCSYS.2022.3231641.

Year 2022

1. C. O’Neill and H. H. Asada, “Horizontal Insertion of a Ring Onto a Shaft Using a Gantry Crane With Minimal Sensors,” in IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 7271-7278, July 2022, doi: 10.1109/LRA.2022.3182808.
2. J. Ng and H. H. Asada, “Model Predictive Control and Transfer Learning of Hybrid Systems Using Lifting Linearization Applied to Cable Suspension Systems,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 682-689, April 2022, doi: 10.1109/LRA.2021.3131750. The contents of this paper were also selected by ICRA 2022 Program Committee for presentation at the conference.
3. J. Bell and H. H. Asada, “Monitoring the Mental State of Cooperativeness for Guiding an Elderly Person in Sit-to-Stand Assistance,” in 2022 IEEE International Conference on Robotics and Automation (ICRA), 2022, Philadephia, PA, USA
4. Matsuura D, Shioya R, Asada HH, Takeda Y. “An extendable continuum robot arm using a flexible screw as a backbone to propel inside a confined space with discontinuous contact area.” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 2022;236(18):9929-9940. doi:10.1177/09544062221080009

Year 2021

1. P. H. Daniel, C. Fu and H. H. Asada, “Musculoskeletal Load Analysis for the Design and Control of a Wearable Robot Bracing the Human Body While Crawling on a Floor,” in IEEE Access, vol. 10, pp. 6814-6829, 2022, doi: 10.1109/ACCESS.2021.3134056.
2. H. Song and H. H. Asada, “Integrated Voluntary-Reactive Control of a Human-SuperLimb Hybrid System for Hemiplegic Patient Support,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1646-1653, April 2021, doi: 10.1109/LRA.2021.3058926. The contents of this paper were also selected by ICRA 2021 Program Committee for presentation at the conference.
3. C. O’Neill and H. H. Asada, “Safe Tumbling of Heavy Objects Using a Two-Cable Crane,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1082-1089, April 2021, doi: 10.1109/LRA.2021.3056029. The contents of this paper were also selected by ICRA 2021 Program Committee for presentation at the conference.
4. N. S. Selby, J. Ng, G. S. Stump, G. Westerman, C. Traweek, and H. H. Asada, “TeachBot: Towards Teaching Robotics Fundamentals for Human-Robot Collaboration at Work,” in Heliyon, vol. 7, no. 7, July 19, 2021, doi: 10.1016/j.heliyon.2021.e07583.
5. N. S. Selby and H. H. Asada, “Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation,” in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6297-6304, October 2021, doi: 10.1109/LRA.2021.3092256. The contents of this paper were also selected by the CASE 2021 Program Committee for presentation at the conference.
6. R. Hoffman and H. H. Asada, “Control Strategy for Jam and Wedge-Free 3D Precision Insertion of Heavy Objects Suspended With a Multi-Cable Crane,” in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7453-7460, Oct. 2021, doi: 10.1109/LRA.2021.3093860. The contents of this paper were also selected by the IROS 2021 Program Committee for presentation at the conference.
7. J. Bell, E. Kamienski, S. Teshigawara, H. Itagaki and H. H. Asada, “Gear Ratio Optimization of a Multifunctional Walker Robot Using Dual-Motor Actuation,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 9339-9346, doi: 10.1109/IROS51168.2021.9636482.
8. F. E. Sotiropoulos and H. H. Asada, “Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators,” in IEEE Robotics and Automation Letters, vol. 7, no. 1, pp. 151-158, Jan. 2022, doi: 10.1109/LRA.2021.3121136.
9. P. Daniel, H. Asada, “Crawling Support Using Wearable SuperLimbs: Human-Robot Synchronization and Metabolic Cost Assessment,” in IEEE International Conference on Robotics and Automation, 2021. China, Xi’an. 30 May 2021.

Year 2020

1. F. E Sotiropoulos and H. H. Asada, “Lifting Linearization of Nonlinear Physical Systems Based on Dual-Faceted Linearization and Subspace System Identification”, in IEEE Control Systems Letters, (Under Review)
2. P. Daniel and H. H. Asada, “Stable Walking Policy for Wearable SuperLimbs Attached to a Human with Tuned Impedance,” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020. Las Vegas, NV. 25-29 Oct 2020
3. F. E. Sotiropoulos and H. H. Asada, “Autonomous Excavation of Rocks Using a Gaussian Process Model and Unscented Kalman Filter”, IEEE Robotics and Automation Letters (RA-L) Vol. 5, Issue 2, pp. 2491-2497, April 2020. The contents of this paper were also selected by ICRA2020 Program Committee for presentation at the conference.
4. J. W. Guggenheim, R. Hoffman, H. Song, and H. H. Asada, “Leveraging the Human Operator in the Design and Control of Supernumerary Robotic Limbs”,  IEEE Robotics and Automation Letters (RA-L), Vol. 5, Issue 2, pp. 2177-2184, April 2020. The contents of this paper were also selected by ICRA2020 Program Committee for presentation at the conference.
5. Jacob W. Guggenheim, Federico Parietti, Tamar Flash, and H. Harry Asada. 2020. “Laying the Groundwork for Intra-Robotic-Natural Limb Coordination: Is Fully Manual Control Viable?” J. Hum.-Robot Interact. 9, 3, Article 18 (July 2020), 12 pages.
6. J. W. Guggenheim and H. H. Asada, “Inherent Haptic Feedback from Supernumerary Robotic Limbs,” in IEEE Transactions on Haptics, 2020
7. R. J. Sandzimier and H.H. Asada, “A Data-Driven Approach to Prediction and Optimal Bucket-Filling Control for Autonomous Excavators”, IEEE Robotics and Automation Letters (RA-L) Vol. 5, Issue 2, pp. 2682-2689, April 2020. The contents of this paper were also selected by ICRA2020 Program Committee for presentation at the conference.
8. H. Matsuo,  H. H. Asada, and Y. Takeda, “Design of a Novel Multiple-DOF Extendable Arm With Rigid Components Inspired by a Deployable Origami Structure”, IEEE Robotics and Automation Letters (RA-L), Vol. 5, Issue 2, pp. 2730-2737, April 2020. The contents of this paper were also selected by ICRA2020 Program Committee for presentation at the conference.
9. J. Bell and H. H. Asada, “Design and Time-Optimal Control of a High-Speed High-Torque Dual-Motor Actuator,” 2020 American Control Conference (ACC), 2020, pp. 1017-1024, doi: 10.23919/ACC45564.2020.9147873.
10. D. J. Gonzalez and H. H. Asada, “Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model”, 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), Paris, France, May 2020.
11. H. Eto and H. H. Asada, “Development of a Wheeled Wall-Climbing Robot with a Shape-Adaptive Magnetic Adhesion Mechanism”, 2020 IEEE International Conference on Robotics and Automation (ICRA 2020), Paris, France, May 2020.

Year 2019

1. D. J. Gonzalez and H. H. Asada, “Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs,” IEEE Robotics and Automation Letters (RA-L),  July 2019.  The contents of this paper are also selected by the ICRA’19 Program Committee for presentation at the Conference.
2. F. E. Sotiropoulos and H. H. Asada, “A Model-Free Extremum-Seeking Approach to Autonomous Excavator Control Based on Output Power Maximization,” IEEE Robotics and Automation Letters 4 (2), 1005-1012. The contents of this paper are also selected by the ICRA’19 Program Committee for presentation at the Conference.
   
3. K. S. Hahm and H. H. Asada, “Design of a Fail-Safe Wearable Robot with Novel Extendable Arms for Ergonomic Accommodation during Floor Work,” Accepted for Review in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Venetian Macao, Macau, China, September 2019.
4. S. Teshigawara and H. H. Asada, “A Mobile Extendable Robot Arm: Singularity Analysis and Design,” Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Venetian Macao, Macau, China, September 2019.
5. T. Yan, S. Teshigawara and H. H. Asada, “Design of a Growing Robot Inspired by Plant Growth,” Proceedings of 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Venetian Macao, Macau, China, September 2019.
6. D. J. Gonzalez and H. H. Asada, “Extra Robotic Legs for Bearing Equipment Loads During Emergency Response,” Accepted for publication and presentation at the 2019 Waste Management Symposium (WM2019), Phoenix, Arizona, USA, March 2019.
7. L. L. S. Ong, H. Zhu, Z. Guan, Y. Feng, E. L. Reinherz, M. J. Lang, and H. H. Asada, “A Robotic Microscope System for Examining TCR Quality Against Tumor Neoantigens: A New Tool for Cancer Immunotherapy Research”, 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), Montreal, Canada, May 2019.
8. H. Eto and H. H. Asada, “Seamless Manual-to-Autopilot Transition: An Intuitive Programming Approach to Robotic Welding,” Accepted for publication and presentation at the 28th IEEE International Conference on Robot & Human Interactive Communication (Ro-MAN 2019), New Delhi, India, October 2019.

Year 2018

1.  Asada, H. H., and Sotiropoulos, F. E. “Dual Faceted Linearization of Nonlinear Dynamical Systems Based on Physical Modeling Theory.” ASME. J. Dyn. Sys., Meas., Control. February 2019; 141(2): 021002.
2. Gonzalez, D.J., and Asada, H.H., “Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution”, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, October 2018.
3. F. E. Sotiropoulos and H. H. Asada, “Causality in dual faceted linearization of nonlinear dynamical systems,” 2018 Annual American Control Conference (ACC), Milwaukee, WI, 2018, pp. 1230-1237.

Year 2017

1. Girard, A., and Asada, H.H., “Leveraging Natural Load Dynamics with Variable Gear-ratio Actuators“, IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 2, pp. 741-748, April 2017. The contents of this paper were also selected by the ICRA’17 Program Committee for presentation at the Conference.
2. D. J. Gonzalez and H. H. Asada, “Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly,” IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 3, pp. 1420-1427, July 2017.  The contents of this paper were also selected by ICRA’17 Program Committee for presentation at the Conference.
3. F. Parietti and H. H. Asada, “Independent, voluntary control of extra robotic limbs,” 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 5954-5961.
4. Tiziani, L., Hart, A. Cahoon, T., We, F., Asada, H.H., and Hammond, F.L., “Empirical characterization of modular variable stiffness inflatable structures for supernumerary grasp-assist devices,” The International Journal of Robotics Research, Vol. 35, Issue 13-14, pp. 1391-1413, July 2017.
5. D. J. Gonzalez and H. H. Asada, “Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly,” 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017.
6. Asada, H.H., Bhattacharyya, S., “Precise Linearization of Nonlinear, Non-Autonomous Systems Based on Physical System Modeling Theory,” Proceedings of the American Control Conference (ACC), Seattle, May 2017, pp. TBA

Year 2016

1. F. Y. Wu and H. H. Asada, “Implicit and Intuitive Grasp Posture Control for Wearable Robotic Fingers : a Data Driven Method Using Partial Least Squares,” IEEE Transactions on Robotics, Vol. 32, No. 1, pp. 176-186, February 2016.
2. F. Parietti and H. Asada, “Supernumerary Robotic Limbs for Human Body Support“, IEEE Transactions on Robotics, Vol. 32, No. 2, pp.301-311, April 2016.
3. L. Treers, R. Lo, M. Cheung, A. Guy, J. W. Guggenheim, F. Parietti, and H. H. Asada, “Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance,” Paper presented at the International Symposium on Experimental Robotics (2016). Tokyo, Japan.
4. Girard, A., and Asada, H.H., “A Practical Optimal Control Approach for Two-Speed Actuators”, Accepted for Publication at the IEEE International Conference on Robotics and Automation,, Stockholm, Sweden, May 2016.
5. Gonzalez, D.J., and Asada, H.H., “Triple Scissor Extender: A 6-DOF Lifting and Positioning Robot“, Proceedings of the 2016 IEEE International Conference on Robotics and Automation, pp. TBA, Stockholm, Sweden, May 2016.
6. Asada, H.H., Wu, F., Girard, A., and Mayalu, M., “A Data-Driven Approach to Precise Linearization of Nonlinear Dynamical Systems in Augmented Latent Space,” Proceedings of the American Control Conference (ACC), Boston, July 2016.
7. Laura Treers, Roger Lo, Michael Cheung, Aymeric Guy, Jacob Guggenheim, Federico Parietti, and Harry Asada, “Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance”, International Symposium on Experimental Robotics (ISER 2016), Tokyo, Japan.

Year 2015

1. Mazumdar, A., Asada, H.H., “Dynamic Analysis and Design of Spheroidal Underwater Robots for Precision Multi-Directional Maneuvering”, IEEE/ASME Transactions on Mechatronics, Vol. PP, Issue 99, pp. 1-13, April 2015
2. Girard, A., and Asada, H.H., “A Two-Speed Actuator for Robotics with Fast Seamless Gear Shifting“, Proceedings of the 2015 IEEE/RSJ International Conferences on Intelligent Robots and Systems, pp. 4704-4711, Hamburg, Germany, September 2015.
3. Bhattacharyya, S., Triantafyllou, M.S., Asada, H.H., “Self Stabilizing Underwater Sub-Surface Inspection Robot Using Hydrodynamic Ground Effect,” Proceedings of the 2015 IEEE International Conference on Robotics and Automation, pp. 1573-1580, Seattle, WA, May 2015.
4. Torres, J., and Asada, H.H., “Harmonic Analysis of a PZT Poly-Actuator,” Proceedings of the 2015 IEEE International Conference on Robotics and Automation, pp. 842-849, Seattle, WA, May 2015.
5. Parietti, F., Chan, K., Hunter, B., and Asada, H.H., “Design and Control of Supernumerary Robotic Limbs for Balance Augmentation,” Proceedings of the 2015 IEEE International Conference on Robotics and Automation, pp. 5010-5017, Seattle, WA, May 2015.
6. Wu, F.Y., and Asada, H. H., “‘Hold-and-Manipulate’ with a Single Hand Being Assisted by Wearable Extra Fingers,” Proceedings of the 2015 IEEE International Conference on Robotics and Automation, pp. 6205-6212, Seattle, WA 2015.
7. Hammond, F. L., Wu, F., and Asada, H. H., “Variable Stiffness Pneumatic Structures for Wearable Supernumerary Robotic Devices,” in International Symposium of Robotics Research, Sestri Levante, Italy, Sept. 2015.
8. Ort, T., Wu, F., Hensel, N. C., and Asada, H. H., “Supernumerary Robotic Fingers as a Therapeutic Device for Hemiparetic Patients,” Proceedings of ASME Dynamic Systems and Control Conference (DSCC), Columbus, OH, Oct. 2015, DSCC2015–9945.
9. Bhattacharyya, S., Asada, H. H., and Triantafyllou, M. S., “Design analysis of a self stabilizing underwater sub-surface inspection robot using hydrodynamic ground effect.” OCEANS 2015-Genova. IEEE, 2015.

 Year 2014