Denny Oetomo

Post-doc, Project COPRIN,
INRIA Sophia-Antipolis.
2004 route des lucioles - BP 93
FR-06902 Sophia Antipolis Cedex
Tel: +33 (0) 4 92 38 76 21
Email: denny.oetomo(-at-)sophia.inria.fr


Hi!! Welcome to my webpage at INRIA.

Summary

Post-Doc, Project COPRIN, INRIA Sophia-Antipolis, 2006- 2008.
Post-Doc, RMRL, Dept. Mech. Eng., Monash University, VIC Australia, 2004-2006
Ph.D (Robotics), Dept. Mech. Eng., National University of Singapore, Singapore, 2004
Photolithography and Etch Engineer, Hewlett Packard Singapore, 1998-1999
B. Eng (Mech)(H1), Australian National University, ACT Australia, 1997

Research Interest

Kinematics and dynamics of mechanisms, force and motion control, mechanism design and analysis, precision mechanisms (micro/nano manipulator), computational robotics.

Current Projects

  • Project ARES - Assembling Reconfigurable Endoluminal Surgical system, involving SSSA (Sant'Anna, Pisa), ETH (Zurich),INRIA (Sophia Antipolis), and UB-CBEN (Barcelona).
  • Interval analysis in serial and parallel robot kinematics.
  • Trying to learn French.

Publications

International Refereed Journal Publications

  1. D. Oetomo, D. Daney, J.-P. Merlet, Design strategy of serial manipulators with certified constraint satisfaction, in preparation.
  2. P.A. Jimenez, B. Shirinzadeh, D. Oetomo, A. Nicholson, Swarm aggregation under limited sensing and communication capabilities, in review.
  3. D. Oetomo, D. Daney, B. Shirinzadeh, J.-P. Merlet, Workspace analysis of parallel flexure mechanism for precision manipulation, in review.
  4. D. Oetomo and M.H. Ang Jr., Singularity-free actuation strategy for omnidirectional mobile platforms with powered offset caster wheels, ASME Journal of Mechanical Design (in print, accepted 14 Aug 2007).
  5. D. Oetomo, M.H. Ang Jr., Singularity robust algorithm in serial manipulators, Robotics and Computer Integrated Manufacturing, (in print - accepted 12 Sept 2007).
  6. B. Shirinzadeh, G. Cassidy, D. Oetomo, G. Alici, M. H. Ang Jr., Trajectory generation for open-contoured structures in robotic fibre placement, Robotics and Computer Integrated Manufacturing, vol. 23, no. 4, pp. 380-394, Aug. 2007.
  7. 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.

Conference Publications
  1. D. Oetomo, D. Daney, B. Shirinzadeh, J.-P. Merlet, Certified Workspace Analysis of 3RRR Planar Parallel Flexure Mechanism, accepted to IEEE International Conference on Robotics and Automation, Pasadena CA, May 19-23, 2008.
  2. D. Oetomo, H.C. Liaw, G. Alici, B. Shirinzadeh, Y. Zhong Direct Kinematics of 3DOF Planar Parallel Mechanisms: A Discussion, Proceedings of the 13th Annual Conference on Mechatronics and Machine Vision in Practice (M2VIP), Toowoomba, Australia, December 5-7 2006.
  3. H.C. Liaw, B. Shirinzadeh, D. Oetomo, G. Alici, Experimental Evaluation of Adaptive and Variable Structure Control of Piezoelectric Actuation Systems for Micro/Nano Manipulation, Proceedings of the 9th International Conference on Control, Automation, Robotics and Vision, Singapore, 5-8 December 2006, pp. 397 - 402.
  4. D. Oetomo, H.C. Liaw, G. Alici, B.Shirinzadeh, Direct Kinematics and Analytical Solution to 3RRR Parallel Planar Mechanisms, Proceedings of the 9th IEEE International Conference on Control, Automation, Robotics and Vision, Singapore, 5-8 December 2006, pp. 2251 -2256.
  5. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, Robust motion tracking control of piezoelectric actuation systems, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA06), Orlando, Florida, 15 - 19 May 2006, pp. 1414-1419.
  6. H.C. Liaw, D. Oetomo, G. Alici, B. Shirinzadeh, Special Class of Positive Definite Functions for Formulating Adaptive Micro/Nano Manipulator Control, Proceedings of the 9th IEEE International Workshop on Advanced Motion Control (AMC06), Istanbul, Turkey, 27-29 March 2006, pp. 517-522.
  7. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, Model-based adaptive control of piezo electric actuation Systems, Intelligent Autonomous Systems (IAS-9), Eds. T. Arai, R. Pfeifer, T. Balch, and H. Yokoi, IOP Press, University of Tokyo, Japan, 7 - 9 March 2006, pp. 375-382.
  8. H.C. Liaw, D. Oetomo, B. Shirinzadeh, G. Alici, Model-based adaptive control of piezo electric actuation Systems, Proceedings of the 9th International Conference on Mechatronics Technology (ICMT 2005), Kuala-Lumpur, Malaysia, 5-8 December 2005.
  9. Y. Zhong, B. Shirinzadeh, G. Alici, J. Smith and D. Oetomo, Deformable object modeling through cellular neural network, Proceedings of the 9th International Conference on Mechatronics Technology (ICMT 2005), Kuala-Lumpur, Malaysia, 5-8 December 2005.
  10. 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, pp. 1-6.
  11. 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," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), Edmonton, Alberta, Canada, 2-6 August, 2005, pp. 3034-3039.
  12. Y.P. Li, D. Oetomo, M.H. Ang Jr., C.W. Lim, Torque Distribution and Slip Minimization in an Omnidirectional Mobile Base, Proceedings of the 12th International Conference on Advanced Robotics (ICAR05), Seattle, Washington, USA, 18-20 July, 2005, pp. 567-572.
  13. 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).
  14. 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.
  15. 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.
  16. 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.
  17. 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, Berkeley, CA, USA, 9 -11 December 2002, pp. 566-571.
  18. D. N. Oetomo and R. Jamisola and 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.
  19. D.N. Oetomo, M. H. Ang, and T. M. Lim, Singularity robust manipulator control using virtual joints, Proceedings of the IEEE International Conference of Robotics and Automation (ICRA2002), Washington D.C., May 2002, vol. 3, pp. 24182423.
  20. 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 of the IEEE International Conference of Robotics and Automation (ICRA2002), Washington D.C., May 2002, vol. 1, pp. 400405.
  21. 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. 491501. Springer Verlag, 2001.