RMRL: People

Professional Experience

• Post-doc Research Fellow, Robotics and Mechatronics Research Laboratory, Dept. Mechanical Engineering, Monash University, 2004 - present
• Research Fellow / Research Engineer, Collaborative Project: Singapore Institute of Manufacturing Technology / National University of Singapore / Stanford University, 2002-2004
• Photolithography and Wet-Etch Engineer, Hewlett-Packard Singapore, 1998-1999

Research Interests

• Micro / nano positioning and manipulation
• Design and analysis of mechanisms: kinematics and dynamics
• Intelligent Control
• Haptics
• Mobile manipulation
• Robots in unstructured human environment

Publications

1. B. Shirinzadeh, G. Cassidy, D. Oetomo, G. Alici, and M.H. Ang, Jr., “Open Contour Trajectory Planning for Robotic Fibre Placement,” accepted to Robotics and Computer Integrated Manufacturing.
2. R.S. Jamisola, Jr., D. N. Oetomo, M.H. Ang, Jr., O. Khatib, T.M. Lim, and S.Y. Lim, “Compliant Motion Using Mobile Manipulator: An Operational Space Formulation Approach to Aircraft Canopy Polishing,” Advanced Robotics, Special Issue on Compliant Motion: Modeling, Planning and Control, vol. 19, no. 5, pp. 613-634(22) June 2005.

1. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, “Robust motion tracking control of piezoelectric actuation systems”, submitted to IEEE International Conference on Robotics and Automation (ICRA’06), to be held in Orlando, Florida, 15 - 19 May 2006.
2. H.C. Liaw, D. Oetomo, G. Alici, B. Shirinzadeh “Special Class of Positive Definite Functions for Formulating Adaptive Micro/Nano Manipulator Control”, accepted to the 9th International Workshop on Advanced Motion Control (AMC’069), to be held in Istanbul, Turkey, 27 - 29 March 2006.
3. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, “Adaptive control strategy for micro/nano manipulation systems”, Proceedings of Intelligent Autonomous Systems (IAS-9), Eds. T. Arai, R. Pfeifer, T. Balch, and H. Yokoi, pp. 375-382, University of Tokyo, Japan, 7 - 9 March 2006.
4. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, “Model-based adaptive control of piezoelectric actuation systems,” Proceedings of the 9th International Conference on Mechatronics Technology (ICMT 2005), Kuala-Lumpur, Malaysia, 5-8 December 2005.
5. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, “Robust control framework for piezoelectric actuation systems in micro/nano manipulation”, Proceedings of the IEEE International Region 10 Conference (TENCON 2005), Melbourne, Australia, 21-24 November 2005.
6. D. Oetomo, Y.P. Li, M.H. Ang Jr., C.W. Lim, “Omnidirectional Mobile Robots with Powered Caster Wheels: Design Guidelines from Kinematic Isotropy Analysis," in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2005), pp. 2708 – 2713, Edmonton, Alberta, Canada, 2 – 6 August 2005.
7. Y.P. Li, D. Oetomo, M.H. Ang Jr., C.W. Lim, “Torque Distribution and Slip Minimization in an Omnidirectional Mobile Base,” in Proceedings of the 12th International Conference on Advanced Robotics (ICAR’05), pp. 567 – 572, Seattle, Washington, USA, 18-20 July 2005.
8. T.Z. Maung, D. Oetomo, M.H. Ang Jr., C.W. Lim, T.K. Ng, “Modeling and analysis of omni- directional mobile robots towards isotropic design,” The Philippines Instrumentation and Control Society, International Conference and Exhibition on Instrumentation and Control 2003, Manila, 27-29 November 2003. (Plenary lecture paper).
9. D. Oetomo, Q.H. Xia, T.M. Lim, M.H. Ang Jr., “Design issues and requirements for a general purpose desktop haptic device,” The Philippines Instrumentation and Control Society, International Conference and Exhibition on Instrumentation and Control 2003, Manila, 27-29 November 2003.
10. D. Oetomo and M. H. Ang Jr., “Singularity handling method with division in workspace and discontinuity issue,” International Symposium on Dynamics and Control (ISDC 2003), Hanoi, Vietnam, 15-20 September, 2003.
11. T.Z. Maung, D. Oetomo, M.H. Ang Jr., T.K. Ng, “Kinematics and dynamics of an omni-directional mobile platform with powered caster wheels,” International Symposium on Dynamics and Control (ISDC 2003), Hanoi, Vietnam, 15-20 September, 2003.
12. D. Oetomo, M. H. Ang Jr., and T. M. Lim, “Haptic interface for force/motion controlled mobile manipulator”, Proceedings of the 2nd IFAC Conference on Mechatronic Systems, pp 566-571, Berkeley, CA, USA, 9 -11 December 2002.
13. D. N. Oetomo, R. Jamisola, M. H. Ang, and O. Khatib, “Integration of torque controlled arm and velocity controlled base for mobile manipulation,” ROMANSY 14, Proceedings of the 14th Intl. CISM-IFToMM Symposium, CISM Courses and Lectures, Eds. G. Bianchi, J. Guinot and C. Rzymkowski, no. 438, pp 189-200, Springer Wien New York, 2002.
14. D.N. Oetomo, M. H. Ang, and T. M. Lim, “Singularity robust manipulator control using virtual joints,” Proceedings of IEEE International Conference of Robotics and Automation (ICRA2002), vol. 3, pp. 2418–2423, Washington D.C., May 2002.
15. R. Jamisola, M. H. Ang, D.N. Oetomo, O. Khatib, T. M. Lim, and S. Y. Lim, “The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator,” Proceedings IEEE International Conference of Robotics and Automation (ICRA2002), vol. 1, pp. 400–405, Washington D.C., May 2002.
16. D. Oetomo, M. H. Ang, and S. Y. Lim, “Singularity handling on PUMA in operational space formulation,” in Lecture Notes in Control and Information Sciences, Eds. Daniela Rus and Sanjiv Singh, Eds., vol. 271, pp. 491–501. Springer – Verlag, 2001.