Refreed Conference Papers: 1976 ~1989

  1. Hanafusa, H., and Asada, H., “An Adaptive Control of Robotic Hands with Pneumatic Proximity Sensors”, Proc. of 6th Int. Symp. on Industrial Robots, March 1976.

  2. Hanafusa, H., and Asada, H., “A Robotic Hand with Elastic Fingers and Its Application to Assembly Processes”, Proc. of FAC Symp. on Information Control Problems in Production Engineering, pp. 127-138, October 1977.

  3. Hanafusa, H., and Asada, H., “Stable Pretension by a Robotic Hand with Elastic Fingers”, Proc. of 7th Int. Symp. on Industrial Robots, pp. 361367, October 1977.

  4. Hanafusa, H., and Asada, H., “Adaptive Control of a Robotic Hand with Elastic Fingers for Mechanical Assembly”, Proc. of 3rd Symp. on Theory and Practice of Robots and Manipulators, pp. 45-66, September 1978.

  5. Hanafusa, H., Asada, H., and Mikoshi, “Design of Electrohydraulic Servo Systems for Articulated Robot Arm Control”, Proc. of IFAC Symp. of Pneumatic and Hydraulic Components and Instruments in Automatic Control, pp. 223-228, 1980.

  6. Asada, H., and Hanafusa, H., “An Adaptive Tracing Control of Robots and Its Application to Automatic Welding”, Proc. of Joint Automatic Control Conference, 80, FA7D, 1980.

  7. Kanade, T., and Asada, H., “Non contact Visual Three-Dimensional Ranging Devices”, Proc. of SPIE Int. Conference of Optical Engineering, 3-D Machine Perception, Vol. 283, pp. 48-53, April 1981.

  8. Asada, H., Kanade, T., and Reddy, R., “Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors”, Proc. of the 11th Int. Symp. on Industrial Robots, October 1981.

  9. Asada, H., “A Characteristics Analysis of Manipulator Dynamics Using Principal Transformations”, Proc. of 1982 American Control Conference, June 1982.

  10. Asada, H., and Kanade, T., “Control of a Direct-Drive Arm”, Proc. of 1982 ASME Winter Annual Meeting, Robotics Research and Advanced Applications, pp. 53-62, November 1982.

  11. Asada, H., “A Geometrical Representation of Manipulator Dynamics and Its Application to Arm Design”, Proc. of 1982 ASME Winter Annual Meeting, Robotics Research and Advanced Applications, pp. 1-8, November 1982.

  12. Asada, H., and Youcef-Toumi, K., “Analysis and Design of Semi-Direct Drive Robot Arms”, Proc. of 1983 American Control Conference, pp. 757-764, June 1983.

  13. Asada, H., and Youcef-Toumi, K., “Development of a Direct-Drive Arm Using High Torque Brushless Motors”, Proc. of 1st Int. Symp. on Robotics Research, August 1983.

  14. Asada, H., and Youcef-Toumi, K. “Analysis of Multi-Degree-of-Freedom Actuator Systems for Robot Arm Design”, Proc. of 1983 ASME Winter Annual Meeting, Control of Manufacturing Processes and Robotic Systems, pp. 205-218, November 1983.

  15. Asada, H., “Dynamic Analysis and Design of Robot Manipulators Using Inertia Ellipsoids”, Proc. of IEEE Int. Conference on Robotics, March 1984.

  16. Asada, H., and Youcef-Toumi, K., “Analysis and Design of a Direct-Drive Arm with a Five-Bar-Link Parallel Drive Mechanism”, Proc. of 1984 American Control Conference, San Diego, June 1984.

  17. Asada, H., and By, A., “Implementing Automatic Setup Change via Robots to Achieve Adaptable Assembly”, Proc. of 1984 American Control Conference, San Diego, June 1984.

  18. Asada, H., Youcef-Toumi, K., and Ramirez, R., “MIT Direct-Drive Arm Project”, Proc. of Robots 8, June 1984, Detroit.

  19. Asada, H., Youcef-Toumi, K., and Ramirez, R., “MIT Direct-Drive Arm Project”, Proc. of Robots 8, June 1984, Detroit.

  20. Asada, H., “Dynamic Analysis and Computer-Aided Design of Robot Manipulators”, Proc. of IFAC 9th Triannual World Congress, Budapest, July 1984.

  21. Asada, H. Youcef-Toumi, K., and Ramirez, R., “Design of MIT Direct-Drive Arm”, Proc. of Intl. Symp.on Design and Synthesis, pp. 417-424, July 1984.

  22. Asada, H., and By, A., “Kinematic Analysis and Design for Automatic Workpart Fixturing in Flexible Assembly”, Proc. of 2nd Int. Symp. on Robotics Research, Kyoto, August 1984.

  23. Asada, H., and Ro, I.H., “A Linkage Design of Direct-Drive Root Arms”, ASME Mechanism Conference, Paper No. 84-DET-143, Cambridge, October 1984.

  24. Asada, H., and Sawada, Y., “Design of an Adaptable Tool Guide for Grinding Robots”, ASME Mechanism Conference, Paper No. 84-DET-41, Cambridge, October 1984.

  25. Asada, H., and Youcef-Toumi, K., “Decoupling of Manipulator Inertia Tensor by Mass Redistribution”, ASME Mechanism Conference, Paper No. 84-DET-40, Cambridge, October 1984.

  26. Asada, H., and Yamamoto, H., “Torque Feedback Control of MIT Direct-Drive Arm”, Proc. of Int. Symp. on Industrial Robots, Gothenburg, Sweden, October 1984.

  27. Asada, H., and West, H., “Kinematic Analysis and Design of Tool Guide Mechanism for Grinding Robots”, Proc. of 1984 ASME Winter Annual Meeting, Symp. on Computer-Integrated Manufacturing and Robotics, pp. 1-17, New Orleans, December 1984.

  28. Asada, H., and By, A.B., “Kinematics of Workpart Fixturing”, Proc. of 1985 IEEE International Conference on Robotics and Automation, pp. 337-345, 1985.

  29. Asada, H., and Goldfine, N., “Optimal Compliance Design for Grinding Robot Tool Holders”, Proc. of 1985 IEEE International Conference on Robotics and Automation, pp. 316-322, 1985.

  30. West, H., and Asada, H., “A Method for the Design of Hybrid Position/Force Controllers for Manipulators Constrained by Contact with the Environment’, Proc. of 1985 IEEE International Conference on Robotics and Automation, pp. 251-260.

  31. Asada, H., and Granito, J.A.C., “Kinematic and Static Characterization of Wrist Joints and Their Optimal Design”, Proc. of 1985 IEEE International Conference on Robotics and Automation, pp. 244-250.

  32. Youcef-Toumi, K., and Asada, H., “Design and Control of Direct Drive Arms”, Proc. of 1985 American Control Conference, Vol. 2, pp. 696-702, 1985.

  33. Asada, H., and Goldfine, N., “Compliance Analysis and Tool Holder Design for Grinding with Robots”, Proc. of 1985 American Control Conference, Vol. 1, pp. 65-68, 1985.

  34. West, H., and Asada, H., “A Method for the Control of Robot Arms Constrained by Contact with the Environment”, Proc. of 1985 American Control Conference, Vol. 1, pp. 383-386, 1985.

  35. Asada, H., and Goldfine, N., “Process Analysis and Compliance Design for Grinding with Robots”, Proc. of 1985 ASME Winter Annual Meeting on Robotics.

  36. Youcef-Toumi, K., and Asada, H., “The Design of Arm Linkages with Decoupled and Configuration-Invariant Inertia Tensors: Part I: Open Kinematic Chains with Serial Drive Mechanisms”, Proc. of 1985 ASME Winter Annual Meeting, Robotics and Manufacturing Automation Symp., pp. 145-152, 1985.

  37. Youcef-Toumi, K., and Asada, H., “The Design of Arm Linkages with Decoupled and Configuration-Invariant Inertia Tensors: Part II: Actuator Relocation and Mass Redistribution”, Proc. of 1985 ASME Winter Annual Meeting, Robotics and Manufacturing Automation Symp., pp. 153-162, 1985.

  38. West, H., Asada, H., “Kinematic Analysis and Mechanical Advantage of Manipulators Constrained by Contact with the Environment”, Proc. of 1985 ASME Winter Annual Meeting, Robotics and Manufacturing Automation Symp., pp. 175-186, 1985.

  39. Asada, H., and Fields, A., “Design of Flexible Fixtures Reconfigured by Robot Manipulators”, Proc. of 1985 ASME Winter Annual Meeting, Robotics and Manufacturing Automation Symp., pp. 251-258, 1985.

  40. Asada, H., and Lim, S.K., “Design of Joint Torque Sensors and Torque Feedback Control for Direct-Drive Arms”, Proc. of 1985 ASME Winter Annual Meeting, Robotics and Manufacturing Automation Symp., pp. 277-284, 1985.

  41. Asada, H., and West, H., “Design and Analysis of Braced Manipulators for Improved Stiffness”, Proc. of the 3rd International Symp. on Robotics Research, pp. 62-67, 1985.

  42. Asada, H., and Ro, I.H., “Direct-Drive Arms; Progress in Arm Design”, Proc. of the 15th International Symp. on Industrial Robots, Vol. 1, pp. 455-462.

  43. West, H., and Asada, H., “Task Representation and Constraint Analysis for Hybrid Position/Force Controller Design”, Proc. of IFAC Symp. on Robot Control, 1985.

  44. Youcef-Toumi, K., and Asada, H., “Dynamic Decoupling and Control of a Direct-Drive Manipulator”, Proc. of the 24th IEEE Conference on Decision and Control, Vol. 3, pp. 2052-2058, 1985.

  45. Youcef-Toumi, K., and Asada, H., “The Design of Open Loop Manipulator Arms with Decoupled and Configuration-Invariant Inertia Tensor”, Proc. of 1986 IEEE International Conference on Robotics and Automation, pp. 2018-2026, April 1986.

  46. Asada, H., and Hara, K., “Load Sensitivity Analysis and Adaptive Control of a Direct-Drive Arm”, Proc. of 1986 American Control Conference, pp. 799-804, June 1986.

  47. Youcef-Toumi, K., and Asada, H., “The Design and Control of Manipulator with Decoupled and Configuration-Invariant Inertia Tensors”, Proc. of 1986 American Control Conference, pp. 811-817, June 1986.

  48. Asada, H., “Flexible Fixturing Systems Using Robot Manipulators” Proc. of Japan-USA Symp. on Flexible Automation, pp. 567-570, July 1986.

  49. Fields, A., Youcef-Toumi, K., and Asada, H., “Flexible Fixturing and Automatic Drilling of Sheet Metal Parts Using a Robot Manipulator”, Proc. of Japan-USA Symp. on Flexible Automation, pp. 571-578, July 1986.

  50. Youcef-Toumi, K., and Asada, H., “The Design and Control of Direct-Drive Arms with Decoupled and Configuration-Invariant Inertia Tensors”, Proc. of Japan-USA Symp. on Flexible Automation, pp. 131-138, July 1986.

  51. Asada, H., and Ogawa, K., “On the Dynamic Analysis of Manipulator and Its End-Effect Interactin with the Environment”, Proc. of 1987 IEEE International Conference on Robotics and Automation, pp. 751-756, April 1987.

  52. Asada, H., and Izumi, H., “Direct Teaching and Automatic Program Generation for the Hybrid Control of Robot Manipulators”, Proc. of 1987 IEEE International Conference on Robotics and Automation, pp. 1401-1406, April 1987.

  53. Asada, H., and Lima, S.-K., “The Joint Torque Feedback Control of a Direct-Drive Arm”, Proc. IFAC Triannual World Congress, Munich, July 1987.

  54. Asada, H., and Goldfine, N., “End Effector Design for Robotic Grinding”, Proc. 10th IFAC Triennia World Congress, Munich, July 1987.

  55. Ma, Z.-D., Asada, H., and Tokumaru, H., “Inverse Dynamics of Flexible Robot Arms for Trajectory Control”, Proc. 1987 ASME Winter Annual Meeting, DSC-Vol. 6, pp. 329-336, Boston, December 1987

  56. Asada, H., and Ogawa, K., “Manipulator Dynamics Analysis Using the Generalized Centroid and Virtual Mass for Task Planning and End-Effector Design”, Proc. 1987 ASME Winter Annual Meeting, DSC-Vol.6, pp. 101-110, Boston, December 1987.

  57. Youcef-Toumi, K., Liu, W.-S. and Asada, H., “Computer Aided Analysis of Reconfigurable Fixtures and Sheet Metal Parts for Robotic Drilling”, Proc. of Int. Conference on the Manufacturing Science and Technology of the Future, 1987.

  58. Asada, H., and Kakumoto, Y., “The Dynamic RCC Hand for High Speed Assembly”, Proc. 1988 IEEE Int. Conference on Robotics and Automation, Vol. 1, pp. 120-125, 1988.

  59. Asada, H., and Asari, Y., “The Direct Teaching of Tool Manipulation Skills Via the Impedance Identification of Human Motion”, Proc. 1988 IEEE Int. Conference on Robotics and Automation, Vol. 3, pp. 1269-1275, 1988.

  60. Hirai, S., Asada, H., and Tokumaru, H., “The Analysis of Quasi-Static Unbalance in Assembly Operations for Planning Manipulation Forces, Proc. 2nd USA-Japan Symp. on Flexible Automation, Vol., 1, pp. 19-26, 1988.

  61. Asada, H., and Asari, Y. “The Identification of Impedance in Tool Manipulation for the Teaching of Force-Controlled Robots”, Proc. 2nd USA-Japan Symp. on Flexible Automation, Vol. 1, pp. 309- 316, 1988.

  62. Asada, H., and Kim, Y.-T., “Dynamic Compliance Control of Direct-Drive Robots with Built-In Optical Torque Sensors”, Proc. 2nd USA-Japan Symp. on Flexible Automation, Vol. 1, pp. 441-441, 1988.

  63. Asada, H., and Kakumoto, Y., “The Dynamic Analysis and Design of High-Speed Insertion Hand Using the Generalized Centroid and Virtual Mass”, Proc. 2nd USA-Japan Symp. on FlexibleAutomation, Vol. 1, pp. 493-500, 1988.

  64. Hirai, S., Asada, H., and Tokumaru, H., “Kinematics of Manipulation Using the Theory of Polyhedral Convex Cones”, Proc. 1988 IEEE Int. Workshop on Intelligent Robots and Systems, pp. 451-456, 1988.

  65. Asada, H., and Ma, Z.-D., “Inverse Dynamics of Flexible Robot Arms”, Proc. 1988 ASME Winter Annual Meeting, DSC-8B, 1988.

  66. Asada, H., and Kitagawa, M., “Form Closure Grasping by a Reconfigurable Universal Gripper”, Proc. ASME Manufacturing International, Symp. on Manufacturing Systems, Vol. 3, pp. 85-90, 1988.

  67. Asada, H., and Yang, B.-H., “Skill Acquisition from Human Experts Through Pattern Processing of Teaching Data”, Proc. 1989 IEEE Int. Conference on Robotics and Automation, Vol., 3, pp. 1302-1308, 1989.

  68. Asada H., and Ma, Z.-D., “Inverse Dynamics of Flexible Robots: Vibration Analysis and Feasible Solutions”, Proc. 1989 American Control Conference, Pittsburgh, June 1989.

  69. Asada, H., and Hirai, S., “Towards a High-Level Force Feedback: Proc. 5th Int. Symposium of Robotics Research, Tokyo, August 1989.

  70. Asada, H., Ma, Z.-D., and Park, J.J.-H., “Inverse Dynamics of Flexible Robots: Feasible Solutions and Arm Design Guidelines”, Proc. of 1989 ASME Winter Annual Meeting, Robotics Research, DSC-Vol. 14, pp. 279-288, 1989.