Denny Oetomo
Post-Doctoral Fellow

Monash University, Australia


Email: denny.nurjanto.oetomo@eng.monash.edu.au

 

Education

B. Eng, (honours 1st), 1997, Australian National University, Canberra, ACT, Australia.

Ph.D, 2004, National University of Singapore, Singapore.

 

Research Interest

Singularity analysis and handling toward mobile manipulation

Kinematics and dynamics of mechanisms

Mobile manipulation

Design and building of an omni-directional mobile base.

Control Strategies

Haptics, augmented reality, and man-machine sharing of intelligence

Robots in unstructured human environment

 

Publications

  • T.Z. Maung, D. Oetomo, M.H. Ang Jr., C.W. Lim, T.K. Ng, “Modelling and Analysis of Omnidirectional Mobile Robot Toward Isotropic Design,” Philippines Instrumentation and Control Society, International Conference and Exhibition on Instrumentation and Control 2003, 27-29 November 2003.  
  • D. Oetomo, Q.H. Xia, T.M. Lim, M.H. Ang Jr., “Design Issues and Requirements for a General Purpose Desktop Haptic Device,” Philippines Instrumentation and Control Society, International Conference and Exhibition on Instrumentation and Control 2003, 27-29 November 2003.  
  • D. Oetomo and M. H. Ang Jr., “Singularity Handling Method with Division in Workspace and Discontinuity Issue,” International Symposium on Dynamics and Control, Hanoi, Vietnam, 15-20 September, 2003.
  • T.Z. Maung, D. Oetomo, M.H. Ang Jr., T.K. Ng, “Kinematics and Dynamics of an Omnidirectional Mobile Platform with Powered Caster Wheels,” International Symposium on Dynamics and Control, Hanoi, Vietnam, 15-20 September, 2003.
  • 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.
  • D. Oetomo, M.H. Ang, Jr., R. Jamisola, O. Khatib, "Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation", Proc. of the Fourteenth CSM-IFToMM Symposium on Robotics RoManSy 2002, pp. 189-200, Jul. 1-4, 2002, Udine, Italy.
  • D. Oetomo, M.H. Ang, Jr., T.M. Lim, "Preliminary Study on Virtual Joints for a Singularity Robust Manipulator Control", Proceedings 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Volume: 3, pp. 2418-2423, May 11-15, 2002, Washington, D.C.
  • R. Jamisola, M.H. Ang, Jr., D. Oetomo, O. Khatib, T.M. Lim, S.Y. Lim, "The Operational Space Formulation Implementation to Canopy Polishing Using a Mobile Manipulator", Proceedings 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Volume: 1, pp. 400-405, May 11-15, 2002, Washington, D.C.
  • D. Oetomo, M H Ang Jr., and S Y Lim, "Singularity Handling on Puma in Operational Space Formulation", Experimental Robotics VII, LNCIS (Lecture Notes in Control and Information Sciences) 271, Proc. of Seventh Intl. Symp. of Experimental Robotics, Eds. Daniela Rus and Sanjiv Singh, pp. 491-500, March 2001.

 

Return to List of Project members