RMRL: People

Research Interests

• Micro / nano positioning and manipulation
• Mechatronics
• Robotics Control
• High Precision Motion Systems
• Hard Real-time Control

Publications

1. Y. Xiao, K.Y. Zhu, H.C. Liaw, “Generalized synchronization control of multi-axis motion systems”, Control Engineering Practice, vol.13, no. 7, pp. 809 - 819, July 2005.
2. H. Yazarel, C.C. Cheah and H.C. Liaw, “Adaptive SP-D control of a robotic manipulator in the presence of modeling error in a gravity regressor matrix: theory and experiment”, IEEE Transactions on Robotics and Automation, vol.18, no. 3, pp. 373 - 379, June 2002.
3. S.P. Chan and H.C. Liaw, “Experimental implementation of impedance based control schemes for assembly task”, Journal of Intelligent and Robotic Systems, vol. 29, pp. 93 - 110, 2000.
4. S.P. Chan and H.C. Liaw, “Robust generalised impedance control of robots for compliant manipulation”, International Journal of Robotics and Automation, vol.12, no. 4, pp. 146 - 155, 1997.
5. S.P. Chan and H.C. Liaw, “Robust motion control for robotic assembly tasks using variable structure control scheme”, Journal of Intelligent and Robotic Systems, vol. 18, pp. 67 - 86, 1997.
6. S.P. Chan and H.C. Liaw, “Generalised impedance control of robot for assembly tasks requiring compliant manipulation”, IEEE Transactions on Industrial Electronics, vol. 43, no. 4, pp. 453 - 461, August 1996.

1. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, “Model-based adaptive control of piezoelectric actuation systems”, submitted to Intelligent Autonomous Systems (IAS-9), to be held in Tokyo, Japan, 7 - 9 March 2006.
2. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, “Robust control framework for piezoelectric actuation systems in micro/nano manipulation”, accepted by IEEE Region 10 International Technical Conference (TENCON’05), to be held in Melbourne, Australia, 21 - 24 November 2005.
3. C.C. Cheah, C. Liu, H.C. Liaw, “Stability of inverse Jacobian control for robot manipulator”, in Proc. 2004 IEEE International Conference on Control Applications (CCA’04), Taipei, Taiwan, 2 - 4 September 2004, vol. 1, pp. 321 - 326.
4. C. Liu, C.C. Cheah, H.C. Liaw, “Adaptive regulation of robots using approximate models”, in Proc. 2004 IEEE International Symposium on Intelligent Control (ISIC’04), Taipei, Taiwan, 2 - 4 September 2004, pp. 180 - 185.
5. H.C. Liaw, S.Y. Lim, W. Lin and K.K. Tan, “Robust model-reaching control of high precision linear motion system”, in Proc. 29th Annual Conference of IEEE Industrial Electronics Society (IECON’03), Roanoke, Virginia, 2 - 6 November 2003, pp. 2794 - 2799.
6. C.C. Cheah and H. C. Liaw, “Stability of task-space feedback control for robots with uncertain actuator model: theory and experiments”, in Proc. 29th Annual Conference of IEEE Industrial Electronics Society (IECON’03), Roanoke, Virginia, 2 - 6 November 2003, pp. 1128 - 1133.
7. H. Yazarel, C.C. Cheah and H.C. Liaw, “Adaptive SP-D control of robots with structural uncertainty in gravity regressor matrix: theory and experiment”, in Proc. 2002 IEEE International Conference on Robotics and Automation (ICRA’02), Washington DC, 11 - 15 May 2002, pp. 2626 - 2631.
8. S.P. Chan and H.C. Liaw, “Assembly strategy for robotic assembly”, in Proc. 26th International Symposium on Industrial Robots (ISIR’95), Singapore, 4 - 6 October 1995, pp. 253 - 258.
9. S.P. Chan and H.C. Liaw, “Impedance control strategy for robotic assembly tasks”, in Proc. 21st Annual Conference of IEEE Industrial Electronics Society (IECON’95), Orlando, Florida, 6 - 10 November 1995, pp. 1372 - 1377.
10. S.P. Chan and H.C. Liaw, “Compliant motion control for robotic assembly tasks”, in Proc. IEEE Singapore International Conference on Intelligent Control and Instrumentation (SICICI’95), Singapore, 3 - 7 July 1995, pp. 370 - 375.
11. S.P. Chan and H.C. Liaw, “A parameter estimation technique for SCARA robots”, in Proc. 3rd International Conference on Automation, Robotics and Computer Vision (ICARCV’94), Singapore, 9 - 11 November 1994, pp. 1487 - 1491.