Publication List

Books

  1. Asada, H., and Slotine, J. -J.E., Robot Analysis and Control, John Wiley and Sons, 1986.
  2. Asada, H., and Youcef-Toumi, K., Direct Drive Robots, MIT Press, 1987.
  3. Asada, H., Introduction to Direct-Drive Robots, Kogyo-Chosakai Press, 1987.
1970-1989
1990-1999
2000-2006

Papers in Refereed Journals

  1. Hanafusa, H., and Asada, H., “Position Searching by a Robotic Hand with Pneumatic Sensors”, Trans. Soc. Instrument and Control Engineers, Vol. 11-5, pp. 592-599, 1975.

  2. Hanafusa, H., and Asada, H., “Mechanics of Grasping by Artificial Fingers”, Trans. Soc. Instrument and Control Engineers, Vol. 12-5, pp. 536-542, 1976.

  3. Hanafusa, H., and Asada, H., “Stable Prehension of Objects by Robotic Hands with Elastic Fingers”, Trans. Soc. Instrument and Control Engineers, Vol. 13-4, pp. 370-377, 1977.

  4. Hanafusa, H., and Asada, H., “Analysis of Prehension Characteristics of Robot Hand Control Systems with Elastic Fingers and Its Synthesis”, Trans. Soc. Instrument and Control Engineers, Vol. 13-6, pp. 587-594, 1977

  5. Hanafusa, H., and Asada, H., “Adaptable, Stable Prehension of Robotic Hands Using Grasp

  6. Hanafusa, H., and Asada, H., “Handling of Constrained Objects by Active Elastic Fingers and Its Applications to Assembly”, Trans. Soc. Instrument and Control Engineers, Vol. 15-1, pp. 61-66, 1979.

  7. Asada, H., and Hanafusa, H., “Playback Control of Force Teachable Robots”, Trans. Soc. Instrument and Control Engineers, Vol. 15-3, pp. 410-411, 1979.

  8. Asada, H., and Hanafusa, H., “Prehension and Handling of Objects by Robotic Hands with Redundant Fingers”, Trans. Soc. Instrument and Control Engineers, Vol. 15-5, pp. 666-671, 1979.

  9. Asano, S., Asada, H., and Hanafusa, H., “Design of Elastic Robot Hands for Precision Inserting Operations”, Systems and Control, Vol. 24-3, pp. 201-208, 1980.

  10. Asada, H., and Hanafusa, H., “Spatial Curve Tracing Control of Industrial Robots”, Trans. Soc. Instrument and Control Engineers, Vol. 16-5, pp. 740-746, 1980.

  11. Asada, H., “Development of a Direct-Drive Robot and Evaluation of Its Control Performance”, Trans. Soc. Instrument and Control Engineers, Vol. 19-1, pp. 77-84, 1983.

  12. Asada, H., and Kanade, T., “Design of a Direct-Drive Mechanical Arm”, ASME J. Vibration, Stress, and Reliability in Design, Vol. 105-3, pp. 312-316, 1983.

  13. Asada, H., “A Geometrical Analysis of Manipulator Dynamics”, Trans. Soc. Instrument and Control Engineers, Vol. 19-6, pp. 500-505, 1983.

  14. Asada, H., Kanade, T., and Takeyama, I., “Control of a Direct-Drive Arm”, ASME J. of Dynamic Systems, Measurement, and Control, Vol. 105-3, pp. 136-142, 1983.

  15. Asada, H. “A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 105-3, pp. 131-135, 1983.

  16. Asada, H., and Youcef-Toumi, K., “Analysis and Design of a Direct-Drive Arm with Five-Bar-Link Parallel Drive Mechanism”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 106-3, pp. 225-230. 1984.

  17. Asada, H., and By, A.B., “Kinematic Analysis of Workpart Fixturing for Flexible Assembly with Automatically Reconfigurable Fixtures”, IEEE J. Robotics and Automation, Vol. RA-1, No. 2, pp. 1-9, 1985.

  18. Asada, H., and Ro, I. H., “A Linkage Design for Direct-Drive Robot Arms”, ASME J. Mechanisms, Transmissions and Automation in Design, Vol. 107-4, pp. 535-540, 1985.

  19. Asada, H., and Sawada, Y., “Design of an Adaptable Tool Guide for Grinding Robots”, Int. J. Robotics and Computer-Integrated Manufacturing, Vol. 2-1, pp. 49-54, 1985.

  20. Asada, H., “Basic Concepts and Applications of Programmable Jigs, and Fixtures Assembled by a Robot”, J. Robotics Society of Japan, Vol. 4-4, pp. 374-381, 1986.

  21. Asada, H., “Measurement and Control of Joint Torques for Direct-Drive Arms”, Trans. Soc. Instrument and Control Engineers, Vol. 22-8, pp. 891-896, 1986.

  22. Otsuki, H., and Asada, H., “Error Estimation of Workpart Locations for Curved Surface Contouring”, Trans. Soc. Instrument and Control Engineers, Vol. 22-10, pp. 1121-1123, 1986.

  23. Asada, H., “Theory of Manipulator Arm Design for Decoupled and Invariant Inertia”, Trans. Soc. Instrument and Control Engineers, Vol. 23-2, pp. 155-162, 1987.

  24. Youcef-Toumi, K., and Asada, H., “The Design of Open Loop Manipulator Arms with Decoupled and Configuration-Invariant Inertia Tensors”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 109-3, pp. 1987.

  25. Asada, H., and Ogawa, K., “Dynamic Analysis of Robotic Arms Using Inverse Inertia Matrices and Its Applications to Task Planning and End-Effector Design”, Trans. Soc. Instrument and Control Engineers, Vol. 24-9, 1987.

  26. Ma, Z.-D., Asada, H., and Tokumaru, H., “Inverse Dynamics of Flexible Robot Arms for Trajectory Control”, Trans. Systems and Control, Vol. 31-10, 1987.

  27. Asada, H., and Izumi, H., “Teaching and Program Generation for Hybrid Position/Force Control Via the Measurement of Human Manipulation Tasks”, J. Robotics Society of Japan, Vol. 5-6, pp. 452-459, 1987.

  28. Hirai, S., Asada, H., and Tokumaru, H., “Kinematic Analysis of Contact State Transitions in Assembly Operations and Automatic Generation of Transition Network”, Trans. Society of Instrument and Control Engineers, Vol. 24-4, pp. 406-413, 1988.

  29. Asada, H., and Asari, Y., “The Identification of Tool Suspension Impedance Via the Measurement of Expert Motion and Its Application to Robot Teaching”, Trans. Society of Instrument and Control Engineers, Vol. 24-12, 1988.

  30. Hirai, S., H., and, Asada H., “Kinematics of Manipulation Using the Theory of Polyhedral Convex Cones and Its Applications to Grasping and Assembly Operations”, Trans. Society of Instrument and Control Engineers, Vol. 24-12, 1988.

  31. Asada, H., and Izumi, H., “Automatic Program Generation from Teaching Data for the Hybrid Control of Robots”, IEEE J. Robotics and Automation, Vol. RA-5, No. 2, pp. 166-173, 1989.

  32. Asada, H., and Kitagawa, M., “Kinematic Analysis and Planning for Form Closure Grasps by Robotic Hands”, Int. J. Robotics and Computer-Integrated Manufacturing, Vol. 5, No. 4, pp. 293-300, 1989.

  33. Fields, A., Youcef-Toumi, K., and Asada, H., “Flexible Fixturing for Automatic Drilling of Sheet Metal Parts Using a Robot Manipulator”, Int. J. Robotics and Computer-Integrated Manufacturing, Vol. 5, No. 4, pp. 371-380, 1989.

  34. Asada, H., and Kim, Y.T., “Dynamic Compliance Control of Direct-Drive Robots with Built-In Optical Torque Sensors”, Journal of the Robotics Society of Japan, Vol. 7-4, 1989.

  35. Ma, Z.-D., Asada, H., and Tokumaru, H., “On the Simplification of Flexible Arm Dynamics and Their Solutions to the Inverse Dynamics Problem”, Trans. Soc. Instrument and Control Engineers, Vol. 25-4, 1989.

  36. Ma, Z.-D., Asada, H., and Tokumaru, H., “Existence of Feasible Solutions to the Inverse Dynamics of Flexible Robot Arms and Guidelines for Designing Arm Links”, Trans. Soc. Instrument and Control Engineers, Vol. 25-3, pp. 325-332, 1989.

  37. Asada, H., Ma, Z.-D., and Tokumaru, H., “Inverse Dynamics of Flexible Robot Arms: Modeling and Computation for Trajectory Control”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 112-2, pp. 177-185, June 1990.

  38. Asada, H., and Kakumoto, Y., “The Dynamic Analysis and Design of a High-Speed Insertion Hand Using the Generalized Centroid and Virtual Mass”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 112-4, pp. 646-654, Dec. 1990.

  39. Asada, H., and Yang, B.H., “Skill Acquisition from Human Experts Through Pattern Processing of Teaching Data”, Journal of the Robotics Society of Japan, Vol. 8, No. 1, pp. 17-24, 1990.

  40. Hirai, S., Asada, H., and Tokumaru, H., “A Model-Based Approach to the Interpretation of Force and Position Sensor Signals for the Process Monitoring of Assembly Operations”, Trans. of Soc. of Instrument and Control Engineers, Vol., 26, No. 2, pp. 225-232, 1990.

  41. Liu, S., and Asada, H., “Transferring Manipulative Skills to Robots: Representation and Acquisition of Tool Manipulative Skills Using a Process Dynamics Model”, ASME J. Dynamic Systems, Measurement and Control, Vol. 114-2, pp. 220-228 June 1992.

  42. McCarragher, B.J., and Asada, H., “Qualitative Template Matching Using Dynamic Process Models for State Transition Recognition of Robotic Assembly”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 115-2(A), pp. 261-269, June 1993.

  43. H. Asada, C. Federspiel, and S. Liu, “ Human Centered Control”, Journal of Dynamic Systems, Measurements, and Control, Vol. 115, No. 2B, pp. 271-280, 1993

  44. Asada, H., Federspiel, C.C., and Liu, S., “Human Centered Control in Robotics and Consumer Product Design”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 115-2(B), pp. 271-280, June 1993.

  45. Asada, H., “Representation and Learning of Nonlinear Compliance Using Neural Nets”, Vol. 9, No. 6, December 1993.

  46. Hirai, S., and Asada, H., “Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones”, Int. J. of Robotics Research, VOL. 12, NO. 5, PP. 434-447.

  47. Park, J.-H., and Asada, H., “Dynamic Analysis of Non-Collocated Flexible Arms and Design of Torque Transmission Mechanisms”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 116, June 1994.

  48. Park, J.-H., and Asada, H., “Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 116, September, 1994.

  49. Fedespiel, C.C., and Asada, H., “User Adaptable Comfort Control of HVAC System”, ASME J. Dynamics Systems, Measurement and Control, Vol. 116, 1994.

  50. Rai, S., and Asada, H., “Computer-Aided Structure Modification of Electromechanical Systems Using Singular Value Decomposition”, ASME J. Mechanical Design, Vol. 116, December 1994

  51. Nishikawa, K., West, A.M., and Asada, H., “Development of a Holonomic Omnidirectional Vehicle and an Accurate Guidance Method for Vehicles”, Journal of Robotics Society of Japan, Vol. 13, No. 2, pp. 249-256, 1995.

  52. West, A.M., and Asada, H., “Design of Ball Wheel Mechanisms for Omnidirectional Vehicles with Full Mobility and Invariant Kinematics”, ASME Journal of Mechanical Design, Vol.117, 1995.

  53. Yang, B-H., and Asada, H., “Adaptive Reinforcement Learning and Its Application to Compliance Control”, Journal of Robotics and Mechatronics, Vol. 7, No. 3, 1995.

  54. West, A.M., and Asada, H., “Design of Ball Wheel Mechanisms for Omnidirectional Vehicles with Full Mobility and Invariant Kinematics”, ASME Journal of Mechanical Design, Vol.117, 1995.

  55. Rai, S., and Asada, H., “Integrated Structure/Control Design of High Speed Flexible Robots Based on Time Optimal Control”, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 117, No. 4, pp. 503-512, 1995.

  56. McCarragher, B.J. and Asada, H., “The Discrete Event Modeling and Trajectory Planning of Robotic Assembly”, ASME, J. of Dynamic Systems, Measurement and Control, Vol. 117, September 1995.

  57. McCarragher, B.J. and Asada, H., “The Discrete Event Control of Robotic Assembly Tasks”, ASME, J. of Dynamic Systems, Measurement and Control, Vol. 117, September 1995.

  58. Pil, A. and Asada, H., “Rapid Recursive Structure Re-Design for Improved Dynamic Performance”, ASME Journal of Dynamic Systems, Measurement and Control, July 1994, Vol. 117, December 1995.

  59. Yang, B-H. and Asada, H., “Progressive Learning and Its Application to Robot Impedance Learning”, IEEE Transaction on Neural Networks, 1996, Vol. 7, No. 4, July 1996.

  60. S. Liu and H. Asada, “Teaching Human Motion/Force Skills to Robots”, Journal of Robotics Society of Japan, Vol. 13, No. 5, pp. 10-16, July 1996.

  61. Pil, A., and H. Asada, H., “Integrated Structure/Control Design of Mechatronic Systems”, IEEE/ASME Transactions on Mechatronics, September 1996.

  62. Shimokura, K. Asada, H. and Liu, S., “A Study of Human Skill Transfer for Teaching a Deburring Robot”, Journal of Robotics Society of Japan, Vol. 14, No. 1, pp. 144-149, January 1996

  63. X. He, S. Liu, and H. Asada, “Modeling of Vapor Compression Cycles for Multivariable Feedback Control of HVAC Systems”, ASME Journal of Dynamic Systems, Measurement, and Control, Vol.119, No. 2, pp.183-191, 1997.

  64. Braunstein, D., and Asada, H., “On-line Estimation of Power Law Fluid Parameter for Solder Paste Printing Control”, Accepted for publication in ASME Journal of Electronics Packaging.

  65. Ravuri, M. and Asada H., 1997 “Asymmetric Order Doubling with Application to the Endpoint Feedback of Coordinate Measuring Machines” , IEEE/ASME Transactions of Mechatronics.

  66. He, X.-D., Liu, S., Asada, H., and Itoh, H., “Multivariable Control of Vapor Compression Systems”, ASHREA Journal of Heating, Ventilation, Airconditioning, and Refrigeration (HVAC&R) Research, Vol. 4, No. 3, pp. 205-230, July 1998.

  67. Zhou, M., Liu, S., and Asada, H., “Zero-Load Control of Indoor Thermal Environment”, ASHRAE Transactions, Vol. 104, Part I, January 1998

  68. Yang, B-H. Wada, M., and Asada, H., “Human-Centered Control and Its Application to Home Healthcare Systems,” Journal of Robotics Society of Japan, Vol. 16, No.3, pp. 301-305, April 1998

  69. Sooyong, Lee, and Asada, H., “A perturbation/Correlation Method for Force Guided Robot Assembly”, IEEE Transactions on Robotics and Automation, Vol.15, No.4, pp.764-773, 1999.

  70. Wada, M., and Asada, H., “Design and Control of a Variable Footprint Mechanism for Holonomic Omnidirectional Vehicles and Its Application to Wheelchair”, IEEE Transactions on Robotics and Automation, Vol.16, No.1, pp.1-9, 2000.

  71. Spano, J., and Asada, H., “Kinematic Analysis and Design of Surface Wave Distributed Actuators with Application to a Powered Bed for Bedridden Patients”, IEEE Transactions on Robotics and Automation, Vol.16, No.2, 2000.

  72. Gordon, B.W., Liu, S., and Asada, H., “Singularly Perturbed Sliding Manifolds for Modeling and Realization of Differential-Algebraic Systems”, International Journal of Control.

  73. Spano, J., and Asada, H., “Design of Surface Wave Active Beds Based on Human Tissue Physiology”, Advanced Robotics, International Journal of the Robotics Society of Japan, October 2000.

  74. Gordon, B.W., and Asada, H., “Modeling, Realization, and Simulation of Thermo-Fluid Systems Using Singularly Perturbed Sliding Manifolds”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 122, September 2000.

  75. Mascaro, S. and Asada, H., “Photoplethysmograph Fingernail Sensors for Measuring Finger Forces without Haptic Obstruction,” IEEE Transactions on Robotics and Automation, vol. 17, No. 5, pp. 698-708, 2001.

  76. Rhee, S-W., Yang, B-H, and Asada, H., “Artifact-Resistant, Power-Efficient Design of Finger-Ring Plethysmographic Sensors”, IEEE Transactions on Biomedical Engineering, Vol.48, No.7, pp.795-805, July 2001.

  77. Shaltis, P.A., Asada, H., and Rhee, S., “Artifact Resistant, Power Efficient, High Speed Modulation Design for Photo Plethysmographic Ring Sensors,” Annals of Biomedical Engineering, Vol. 29, Supplement 1, (S-117), 2001.

  78. Tahboub, K. A., and Asada, H., “Dynamic Analysis and Control of a Holonomic Vehicle with a Continuously Variable Transmission”, ASME J. Dynamic Systems, Measurement, and Control, Vol. 124, pp.118-126, March 2002.

  79. Mascaro, S. and Asada, H., “Measurement of Finger Posture and Three-Axis Fingertip Touch Force Using Fingernail Sensors”, IEEE Transactions on Robotics and Automation, 2003.

  80. Asada, H, Shaltis P, Reisner A, Rhee S, and Hutchinson, RC., “Mobile Monitoring with Wearable Photoplethysmographic Biosensors”, IEEE Engineering in Medicine and Biology Magazine, Vol.22, No.3, pp. 28-40, 2003.

  81. Gu, B. and Asada, H., “Co-Simulation of Algebraically Coupled Dynamic Subsystems without Disclosure of Proprietary Subsystem Models”, ASME Journal of Dynamic Systems, Measurement, and Control, Vol.126, No.1, March 2004.

  82. Zhang, Y. and Asada, H., “Blind System Identification of Non-Coprime Multi-Channel Systems and Its Application to Non-Invasive Cardiovascular Monitoring”, ASME Journal of Dynamic Systems, Measurement, and Control, Vol.126, No.4, December 2004.

  83. He, X., Chen, T., Kasahara, S. and Asada, H., “An Oil Circulation Observer for Estimating Oil Concentration and Oil Amount in Refrigerant Compressors”, ASHRAE Transaction, Vol. 110, Part 2, 2004.

  84. Roy, B., and Asada, H., “Repositioning of a Rigid Body with a Flexible Sheet and its Application to an Automated Rehabilitation Bed”, IEEE Transactions on Automation Science and Engineering, Vol.2, No.3, pp.300 – 307, July 2005.

  85. Gibbs, T., and Asada, H., “Wearable Conductive Fiber Sensors for Multi-Axis Human Joint Angle Measurements”, Journal of Neuroengineering and Rehabilitation, 2-7, Special Issue on Wearable Technology in Rehabilitation, February, 2005.

  86. McCombie, D., Reisner, A., and Asada, H., “Laguerre Model Blind System Identification: Cardiovascular Dynamics Estimated from Multiple Peripheral Circulatory Signals”, IEEE Transactions on Biomedical Engineering, Vol. 52, No. 11, pp. 1889 – 1901, November 2005.

  87. Odhner, L., and Asada, H., “Sensorless Temperature Estimation and Control of Shape Memory Alloy Actuators Using Thermoelectric Devices”, IEEE/ASME Transactions on Mechatronics, vol. 11, No. 2, pp.139-144, April 2006.

  88. Selden, B., Cho, K.-J., and Asada, H., “Segmented Shape Memory Alloy Actuators Using Hysteresis Loop Control”, Journal of Smart Materials and Structures, Vol.15, No.2, pp.642-652, February 2006.

  89. Cho, K.-J., and Asada, H., “Architecture Design of a Multi-Axis Cellular Actuator Array Using Segmented Binary Control of Shape Memory Alloy”, IEEE Transactions on Robotics, Vol. 22, No. 4, pp.831-842, Aug. 2006.

  90. Wade, E., and Asada, H., “Broadcasting Modem Hardware Design Using DC Power Bus Communication”, IEEE/ASME transactions on Mechatronics, Volume 11, Issue 5, Pages 533-540, Oct. 2006.

  91. Mascaro, S. and Asada, H., “The Common Patterns of Blood Perfusion in the Fingernail Bed Subject to Fingertip Touch Force and Finger Posture,” Haptics-e: The Electronic Journal of Haptics Research, vol. 4, no. 3, pp. 1-6, 2006.

  92. Wade, E., and Asada, H., “Conductive Fabric Garment for a Cable-Free Body Area Network: Conductivity Analysis for DC Power-Line Communication over Fabric Media”, Accepted for publication in the IEEE Transactions on Pervasive Computing, Special issue on pervasive computing in health care, December 2006.

  93. Ueda, J., Odhner, L. and Asada, H., “Broadcast Feedback of Stochastic Cellular Actuators Inspired by Biological Muscle Control”, accepted for publication in International Journal of Robotics Research, Special Issue on Bio-Robotics, February 2007.