Robotics Publications

Journal Publications


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 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,” Accepted for Publication in IEEE Robotics and Automation Letters (RA-L), pp. TBA, 2017.  The contents of this paper were also selected by ICRA’17 Program Committee for presentation at the Conference.

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.

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

 Year 2014

  1.  Mazumdar, A., Asada, H., “Control-Configured Design of Spheroidal, Appendage-Free, Underwater Vehicles,” IEEE Transactions on Robotics, Vol. 30, Issue 2, pp. 448-460, April 2014.
  2. Torres, J., Asada, H. H., “High-Gain, High Transmissibility PZT Displacement Amplification Using a Rolling-Contact Buckling Mechanism and Preload Compensation Springs,” Transactions on Robotics, Vol. 30, Issue 4, pp. 781-791, August 2014.
  3. Neal, D., and Asada, H., “Bipolar Piezoelectric Buckling Actuators”, ASME/IEEE Transactions on Mechatronics, Vol. 19, No. 1, pp. 9-19, February 2014.

 Year 2013

  1. Mazumdar, A., Asada, H., “Pulse Width Modulation of Water Jet Propulsion Systems Using High-Speed Coanda-Effect Valves,” ASME Journal of Dynamic Systems, Measurement , and Control, Vol. 135, September 2013.

Year 2012

  1. Hahn, J.-O., Reisner, A., Jaffer, F.A., and Asada, H., “Subject-Specific Estimation of Central Aortic Blood Pressure Using an individualized Transfer Function: a Preliminary feasibility Study”, IEEE Transactions on Information Technology in Biomedicine, Issue 99, PMID: 22147332, Vol. 16, No. 2, pp. 212 – 220, March 2012.
  2. Farahat, W., and Asada, H., “Estimation of State Transition Probabilities in Asynchronous Vector Markov Processes”, ASME J. of Dynamic Systems, Measurement, and Control, Vol. 134, November 2012.

 Year 2011

  1. Wood, L., and Asada, H., “Cellular Stochastic Control of the Collective Output of a Class of Distributed Hysteretic Systems”, ASME Journal of Dynamic Systems, Measurement and Control, vol. 133, Iss. 6, pp. 61011-61022, November 2011.
  2. Menon, M., and Asada, H., “Design and Control of Paired Mobile Robots Working Across a Thin Plate with Application to Aircraft Manufacturing”, IEEE Transactions on Automation Science and Engineering, vol. 8, no. 3, pp. 614-624, July 2011.
  3. Belden, J., Staats, W., Mazumdar, A., Hunter, I.W., “A Portable Air Jet Actuator Device for Mechanical System Identification,” Review of Scientific Instruments, Vol. 82(3), March 2011.

 Year 2010

  1. Ueda, J., Secord, T and Asada, H, “Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture With Exponential Strain Amplification Mechanisms,” IEEE/ASME Transactions on Mechatronics, vol.15, no.5, pp.770-782, Oct. 2010.
  2. Secord, T., and Asada, H., “A Variable Stiffness PZT Actuator Having Tunable Resonant Frequencies“, IEEE Transactions on Robotics, vol.26, no.6, pp.993-1005, Dec.2010.
  3. Hahn, J.-O., Reisner, A., and Asada, H., “Estimation of Pulse Transit Time Using Two Diametric   Blood Pressure Waveform Measurements”, Medical Engineering & Physics, Vol. 32, Issue 7, pages 753-759, September 2010.
  4. Mazumdar, A., and Asada H., “An Under-actuated, Magnetic-Foot Robot for Steel Bridge  Inspection”, ASME journal of Mechanisms Robotics, vol.2, Issue 3, August 2010.
  5. Hahn, J.-O., McCombie, D., Hojman, H., Reisner, A., and Asada, H., “Identification of Multi-Channel Cardiovascular Dynamics Using Dual Laguerre Basis Functions for Noninvasive Cardiovascular Monitoring“, IEEE Transactions on Control Systems Technology, Vol. 18, Issue 1, pp. 170-176,  January 2010.

 Year 2009

  1. Odhner, L., and Asada, H., “Stochastic Recruitment Control of Large Ensemble Systems with  Limited Feedback”, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 132, Issue 4, 041008 (9 pages), September 2009.
  2. Hahn, J.-O., Reisner, A., and Asada, H., “Modeling and 2-Sensor Blind Identification of  Human Cardiovascular System”, Control Engineering Practice, Vol. 17, Issue 11, pp. 1318-1328, November 2009.
  3. Hahn, J.-O., Reisner, A., and Asada, H., “Blind Identification of 2-Channel IIR Systems with Application to Central Cardiovascular Monitoring”, ASME Journal of Dynamic Systems, Measurement, and Control,Vol. 131, No 5, 2009.
  4. Roy, B., and Asada, H., “Non-linear Feedback Control of a Gravity-assisted UnderactuatedManipulator with Application to Aircraft Assembly”, IEEE Transactions on Robotics, Vol. 25, Issue 5, pp. 1125-1133, October 2009.
  5. Slocum, Jr., A., Bosworth, W., Mazumdar, A., Saez, M., Culpepper, M., Levine, R., “Design of a Catheter-Based Device for Performing Percutaneous Chordal-Cutting Procedures,” ASME Journal of Medical Devices, Vol. 3, June 2009.

Recent Conference Proceedings


Year 2017

  1. 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, pp. TBA.
  2. 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. 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.
  2. 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.
  3. 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.
  4. 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. 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.
  2. 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.
  3. 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.
  4. 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.
  5. 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.
  6. 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.
  7. 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.
  8. 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

  1. Bhattacharyya, S. and Asada, H.H., “Control of a Compact, Tetherless ROV for In-Contact Inspection of Complex Underwater Structures,” Proceedings of the 2014 International Conference on Intelligent Robots and Systems, pp. 2265-2272, Chicago, IL, September 14-18, 2014.
  2. Wu, F.Y., and Asada, H., “Supernumerary Robotic Fingers: an Alternative Upper-limb Prosthesis”, Proc. of 2014 ASME Dynamic Systems and Control Conference (DSCC), pp.1-8, San Antonio, TX, October 2014.
  3. Wu, F.Y., and Asada, H., “Bio-Artificial Synergies for Grasp Control of Supernumerary Robotic Fingers”, Proc. of 2014 Robotics: Science and Systems Conference (RSS), University of California, Berkeley, July 2014.
  4. Mazumdar, A., Chuah, M. Triantafyllou, M., Asada, H., “Design for Precision Multi-Directional Maneuverability: Egg-Shaped Underwater Robots for Infrastructure Inspection,” Proceedings of the 2014 IEEE International Conference on Robotics and Automation, pp. 2950-2956, Hong Kong, May 2014.
  5. Torres, J., Penalver-Aguila L., Asada, H.H, “Harmonic PZT Poly-Actuators,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 6326-6331, Hong Kong, May 2014.
  6. Llorens-Bonilla, B., Asada, H.H., “A Robot on the Shoulder: Coordinated Human-Wearable Robot Control Using Coloured Petri Nets and Partial Least Squares Predictions,” Proceedings of the 2014 IEEE International Conference on Robotics and Automation, Hong Kong, China, pp. 119-125, May 2014.
  7. Parietti, F., Asada, H.H., “Bracing the Human Body with Supernumerary Robotic Limbs for Physical Assistance and Load Reduction,” Proceedings of IEEE International Conference on Robotics and Automation, pp. 141-148, Hong Kong, May 2014.
  8. Parietti, F., Asada, H.H., “Supernumerary Robotic Limbs for Aircraft Fuselage Assembly: Body Stabilization and Guidance by Bracing“, Proceedings of IEEE International Conference on Robotics and Automation, pp. 1176-1183, Hong Kong, May, 2014.

Year 2013

  1. Llorens-Bonilla, B., Asada, H.H., “Control and Coordination of Supernumerary Robotic Limbs based on Human Motion Detection and Task Petri Net Model“, Proceedings of the 2013 ASME Dynamic Systems and Controls Conference, Stanford, CA, October 2013.
  2. Tsukahara, S., Penalver-Aguila, L., Torres, J., Asada, H., “Design of a Piezoelectric Poly-Actuated Linear Motor,” Proceedings of the 2013 ASME Dynamic Systems and Controls Conference, Stanford, CA, Oct. 2013.
  3. Parietti, F., Asada, H.H., “Dynamic Analysis and State Estimation for Wearable Robotic Limbs Subject to Human-Induced Disturbances”, Proceedings of the 2013 IEEE Int. Conference on Robotics and Automation, pp. 3880-3887, Karlsruhe, Germany, May 2013.
  4. Torres, J., Tsukahara, S., and Asada, H., “Maximizing Output Work of PZT Stacks While Gaining Large Displacement Amplification,” Proc. of the 2013 IEEE International Conference on Robotics and Automation, pp. 343-348, Karlsruhe, Germany, May 2013.
  5. Mazumdar, A., Fittery, A., Ubellacker, W., Asada, H., “A Ball-Shaped Underwater Robot for Direct Inspection of Nuclear Reactors and Other Water-filled Infrastructure,” Proceedings 2013 IEEE International Conference on Robotics and Automation, pp. 3415-3422, Karlsruhe, Germany, May 2013.

Year 2012

  1. Torres, J., and Asada, H., “Dynamic Analysis of a Buckling-Type Amplification Mechanism to Maximize the Power Output by Varying the Load Impedance and Control Timing”, Proc. of ASME Dynamic Systems and Control Conference (DSCC), pp. 123-130, October 2012.
  2. Tsukahara, S., Torres, J., Neal, D., Asada, H.H., “Design Method for Buckling Amplified Piezoelectric Actuator Using Flexure Joint and Its Application to An Energy Efficient Brake System,” Proc. Of ASME DSCC 2012, pp. 95-102, Ft. Lauderdale, FL., October 2012.
  3. Mazumdar, A., Asada, H., “Valve-PWM Control of Integrated Pump-Valve Propulsion Systems for Highly Maneuverable Underwater Vehicles,” Proc. Of the 2012 American Controls Conference, pp. 5414-5420, Montreal, QC, June 2012.
  4. Fittery, A., Mazumdar, A., Lozano, M., Asada, H., “Omni-Egg: A Smooth, Spheroidal, Appendage Free Underwater Robot capable of 5 DOF Motions,” Proc. Of the 2012 IEEE /MTS Oceans Conference, pp. 1-5, Oct. 2012.
  5. Mazumdar, A., Fittery, A., Lozano, M., Asada, H., “Active Yaw Stabilization for Smooth Highly Maneuverable Underwater Vehicles,” Proc. Of the 2012 ASME Dynamic Systems and Controls Conference, pp. 195-201, Oct. 2012.
  6. Mazumdar, A., Lozano, M., Fittery, A., Asada, H., “A Compact, Maneuverable, Underwater Robot for Direct Inspection of Nuclear Power Piping Systems,” Proc. Of 2012 IEEE International Conference on Robotics and Automation, pp. 2818-2823, May 2012.
  7. Davenport, C., Parietti, F., and Asada, H., “Design and Biomechanical Modeling of Wearable Supernumerary Robotic Limbs”, Proc. of the 2012 ASME Dynamic Systems and Control Conference, pp. 787-793, Ft. Lauderdale, 2012.
  8. Llorens – Bonilla, B., Parietti, F., and Asada, H., “Demonstration-Based Control of Supernumerary Robotic Limbs”, Proc. of the 2012 IEEE/RSJ international Conference on Intelligent Robots and Systems (IROS), pp. 3936-3942, Vilamoura, Algarve 2012.
  9. Marchese, A., Karasic, G., Asada, H., Rus, D., “Controlling the Locomotion of a Separated Inner Robot from an Outer Robot using Electropermanent Magnets”, Proc. of 2012 IEEE Int. Conference on Robotics and Automation (ICRA), pp. 3763-3770, Minneapolis, May 2012.
  10. Mazumdar, A., and Asada, H., “A Compact, Maneuverable, Underwater Robot for Direct Inspection of Nuclear Power Piping Systems”, Proc. of 2012 IEEE Int. Conference on Robotics and Automation (ICRA), pp. 2818-2823, Minneapolis, May 2012.
  11. Rust, I., and Asada, H., “A Dual-Use Visible Light Approach to Integrated Communication and Localization of Underwater Robots with Application to Non-Destructive Nuclear Reactor Inspection“, Proc. of 2012 IEEE Int. Conference on Robotics and Automation (ICRA), Minneapolis, May 2012.

Year 2011

  1. Rust, I., and Asada, H., “A Dual-Use Visible Light Communication and Orientation Estimation System for Underwater Robots,” Proc. Of 2011 ASME Dynamic Systems and Control Conference, Oct. 31-Nov.2, 2011.
  2. Torres, J., Asada, H., and Neal, D., “A PZT Array Actuator Using Buckling Strain Amplification and Preload Mechanisms”, Proc. Of 2011 ASME Dynamic Systems and Control Conference, Oct. 31-Nov.2, 2011.
  3. Barragán, P., Tsukahara, S., and Asada, H., “Design of Energy-Saving PZT Drive Amplifiers For Mobile And Wearable Physical Assists”, Proc. Of 2011 ASME Dynamic Systems and Control Conference, Oct. 31-Nov.2, 2011.
  4. Mazumdar, A., and Asada, H., “A Compact Underwater Vehicle Using High-Bandwidth Coanda-Effect Valves for Low Speed Precision Maneuvering in Cluttered Environments”, Proc. of 2011 IEEE Int. Conference on Robotics and Automation (ICRA), page 1544-1550, Shanghai, China, 9-13 May 2011.

Full List of Journal PublicationsFull List of Conference Proceedings