Research Publications

Journal Publications:

  1. SH Zhou, Y Tan, D Oetomo, C Freeman, E Burdet, I Mareels, Modeling of endpoint feedback learning implemented through Point-to-Point Learning Control, accepted to the IEEE Transactions on Control Systems Technology, in June 2016. Manuscript ID: TCST-2015-0676.
  2. F Malekipour, D Oetomo, P VS Lee, Equine Subchondral Bone Failure Threshold under Impact Compression Applied through Articular Cartilage, Journal of Biomechanics, 49(10): 2053-2059, July 2016.
  3. J Eden, D Lau, Y Tan, D Oetomo, Available Acceleration Set for Cable-Driven Robots: Understanding Motion Capabilities, Mechanisms and Machine Theory, 105:320-336, Nov 2016. postprint: pdf
  4. MC Lei, D Oetomo, Cable Wrapping Phenomenon in Cable-driven Parallel Manipulators, Journal of Robotics and Mechatronics, 28(3):386-396, Jun 2016. postprint: pdf
  5. J Eden, Y Tan, D Lau, D Oetomo, "On the Positive Output Controllability of Linear Time Invariant Systems" Automatica, 71:202-209, Sep 2016. postprint: pdf
  6. D Lau, D Oetomo, Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators, ASME Journal of Mechanical Design, 138(3):032303 (7 pages), Jan 2016. postprint: pdf
  7. F Leong, N Garbin, C Di Natali, A Mohammadi, D Thiruchelvam, D Oetomo and P Valdastri, Magnetic Surgical Instruments for Robotic Abdominal Surgery, IEEE Reviews of Biomedical Engineering, RBME-00038-2015 accepted Oct 2015 (In press). postprint: pdf
  8. S-H. Zhou, J Fong, V Crocher, Y Tan, D Oetomo, I Mareels, Learning Control in Robot-assisted Rehabilitation of Motor Skills, Journal of Control and Decision, vol 3 issue 1, pp19-43, 2016. open access full text.
  9. D Lau, J Eden, D Oetomo, Fluid Motion Planner for Non-holonomic 3-D Mobile Robots with Kinematic Constraints, IEEE Transactions on Robotics, vol 31 issue 6, pp 1537-1547, Dec 2015. postprint: pdf
  10. C Di Natali, A Mohammadi, D Oetomo, P Valdastri, Surgical Robotic Manipulator Based on Local Magnetic Actuation, ASME Journal of Medical Devices, vol. 9, no. 3, pp. 090336, 2015. postprint: pdf
  11. A Mohammadi, C Di Natali, D Samsonas, P Valdastri, Y Tan, D Oetomo, Electromagnetic Actuator across Abdominal Wall for Minimally Invasive Robotic Surgery, ASME Journal of Medical Devices, vol. 9, no. 3, pp. 090337, 2015. postprint: pdf
  12. D Lau, D Oetomo, S Halgamuge “Inverse Dynamics of Multilink Cable-driven Manipulators with Consideration of Joint Interaction Forces and Moments” IEEE Transactions on Robotics 31(2): 479-488, 2015. postprint: pdf
  13. SH Zhou, D Oetomo, Y Tan, I Mareels, E Burdet, “Effect of sensory experience on motor learning strategy” Journal of Neurophysiology, 113 (4):1077-1084 2015.postprint: pdf
  14. H Wang, Y Luan, D Oetomo and Z Wang, Design, Analysis and Experimental Evaluation of a Gas-fuel-powered Robotic Hopper,IEEE/ASME Transactions on Mechatronics 20(5): 2264-2275, Oct 2015: pdf
  15. H Mokhtarzadeh, A Ng, CH Yeow, D Oetomo, F. Malekipour, PV Lee, Restrained tibial rotation may prevent ACL injury during landing at different flexion angles, The Knee, 22(1):24-9, January 2015. Information can be found here.
  16. L. CLark, B. Shirinzadeh, Y. Tian, D. Oetomo, Laser-based Sensing, Measurement and Misalignment Control of Coupled Linear and Angular Motion for Ultra-High Precision Movement, IEEE/ASME Transactions on Mechatronics, 20(1):84-92, Feb 2014.
  17. D. Lau, J. Eden, D. Oetomo, S. Halgamuge, Musculoskeletal Static Workspace Analysis of the Human Shoulder as a Cable-Driven Robot, IEEE/ASME Transactions on Mechatronics 20(2):978-984, 2014, postprint: pdf
  18. K. Bhalerao, J. Critchley, D. Oetomo, R. Featherstone, O. Khatib, Distributed Operational Space Formulation of Serial Manipulators, ASME Journal of Computational and Nonlinear Dynamics, 9(2), 021012, 2013.
  19. F Malekipour, RC Whitton, D Oetomo, PV Lee, Shock absorbing ability of articular cartilage and subchondral bone under impact compression, Journal of Mechanical Behaviour of Biomedical Materials, 26:127-135, 2013.
  20. H. Mokhtarzadeh, CH Yeow, JCH Goh, D Oetomo, F Malekipour, PV Lee, Contributions of the Soleus and Gastrocnemius to the Anterior Cruciate Ligament loading during single-leg landing, Journal of Biomechanics 46(11):1913-20, 2013.
  21. D. Lau, D. Oetomo, S. Halgamuge, Generalised modeling of multilink cable-driven manipulators with arbitrary routing using the Cable-Routing Matrix, IEEE Transactions on Robotics Vol. 29, No. 5, pp. 1102-1113, 2013. postprint: pdf
  22. S. Zhou, D. Oetomo, Y. Tan, I. Mareels, E. Burdet, Modelling individual human motor behaviour through model reference iterative learning control, IEEE Transactions on Biomedical Engineering, vol 59, no. 7, pp. 1892-1901, 2012. postprint: pdf
  23. KY Ng, CP Tan, D Oetomo, Disturbance Decoupled Fault Reconstruction using Cascaded Sliding Mode Observers,, Automatica 48(5): 794-799 (2012).
  24. D. Lau, D. Oetomo, S Halgamuge, Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators using a Hybrid Analytical-Numerical Approach, ASME Journal of Mechanical Design, vol. 133, no. 7, pp. 071004(1-10) , July 2011. postprint: pdf
  25. D. Soewandito, D. Oetomo, M.H. Ang Jr. Neuro-Adaptive Motion Control with Velocity Observer in Operational Space Formulation, Robotics and Computer Integrated Manufacturing, Volume 27, Issue 4, Pages 829-842, August 2011. postprint: pdf
  26. P. Jimenez, B. Shirinzadeh, D. Oetomo, A. Nicholson Swarm aggregation and formation control for robots with limited perception, International Journal of Robotics and Automation (ACTA/IASTED), v 26, n 3, p 255-263, 2011.
  27. K. Harada, D. Oetomo, E. Susilo, A. Menciassi, D. Daney, J-P. Merlet, and P. Dario, A Reconfigurable Modular Robotic Endoluminal Surgical System , Robotica, Special Issue on Surgical Robots, vol. 28, no. 02, pp. 171-183, 2010. postprint: pdf
  28. T.F. Khoo, D.H. Dang, J. Friend, D. Oetomo, and L. Yeo, Triple Degree-of-Freedom Piezoelectric Ultrasonic Micromotor via Flexural-Axial Coupled Vibration, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, vol. 56, no. 8, p 1716-24, Aug. 2009. postprint: pdf
  29. D. Oetomo, D. Daney, J.-P. Merlet, Design Strategy of Serial Manipulators With Certified Constraint Satisfaction, IEEE Transactions on Robotics, vol.25, no. 1, p. 1-11, Feb 2009. postprint: pdf
  30. D. Oetomo, M.H. Ang Jr., Singularity robust algorithm in serial manipulators, Robotics and Computer-Integrated Manufacturing, vol. 25, issue 1, pp 122-134, Feb 2009. pdf
  31. D. Oetomo, D. Daney, B. Shirinzadeh, J.-P. Merlet, An Interval-Based Method for Workspace Analysis of Planar Flexure-Jointed Mechanism, ASME Journal of Mechanical Design, vol. 131, issue 1, pp. 011014 (11 pages), Jan 2009. postprint: pdf
  32. 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 , vol. 130, no. 5, pp 054501, May 2008. postprint: pdf
  33. 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.
  34. 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. postprint: pdf

Book Chapters Resulting from Conference Proceedings

  1. D. Lau, K. Bhalerao, D. Oetomo, S. Halgamuge, On the Task Specific Evaluation and Optimisation of Cable-Driven Manipulators, Advances in Reconfigurable Mechanism and Robots I, part 6, pp. 707-716, 2012.
  2. SH Ip, C Chen, RP Chen, D Oetomo, Development of Reconfigurable Spherical Motion Generator, Advances in Reconfigurable Mechanism and Robots I, part 6, pp. 285-293, 2012.
  3. 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.
  4. D. 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, CISM Courses and Lectures, Eds. G. Bianchi, J. Guinot and C. Rzymkowski, no. 438, pp 189-200, Springer Wien New York, 2002.
  5. 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. postprint: pdf

Conference Publications

  1. W Shaw-Cortez, D Oetomo, C Manzie, P Choong, Towards Dynamics Object Manipulation with Tactile Sensing for Prosthetic Hands, in Procs 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, 9-14 Oct 2016
  2. D Lau, JP Eden, Y Tan, D Oetomo, CASPR: A Comprehensive Cable-Robot Analysis and Simulation Platform for the Research of Cable-Driven Parallel Robots, in Procs 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, 9-14 Oct 2016.
  3. W Shaw-Cortez, D Oetomo, C Manzie, R Howe, P Choong, M Ortiz-Catalan, R Brånemark, Towards Effective Object Grasp and Manipulation using Robotic Hands within the Context of Neuroprosthetics, 11th Annual International Electromaterials Science Symposium, Melbourne, Australia, 10-12 Feb 2016.
  4. H Mokhtarzadeh, D Oetomo, CH Yeow, PV Lee, Co-activation of Antagonist Muscles Surrounding the Knee Joint, Orthopaedic Research Society (ORS) 2016 Annual Meeting, Orlando, Florida, March 5-8.
  5. H Gu, M Bain, CJ Yen, S Fang, F Leong, A Mohammadi, P Valdastri, D Oetomo, Local Magnetic Actuation Based Laparoscopic Camera for Minimally Invasive Surgery, in Procs. Australian Conference on Robotics and Automation, Canberra, 2-4 Dec 2015.
  6. J Eden, D Lau, Y Tan, D Oetomo, On Positive Output Controllability and Cable Driven Parallel Manipulators, in Procs. Australian Control Conference 2015, pages 27-32.
  7. J Fong, V Crocher, D Oetomo, Y Tan, I Mareels, Effects of Robotic Exoskeleton Dynamics on Joint Recruitment in a Neurorehabilitation Context, in Procs. 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, 11 – 14 August 2015, Singapore
  8. MC Lei, D Oetomo, Kinematic Modelling of Cable Wrapping on Rigid-link Phenomenon in Cable-driven Parallel Manipulators, accepted for oral presentation to the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2015) to be held on July 7-11, 2015 in Busan, Korea.
  9. A Mohammadi, D Samsonas, C Di Natali, P Valdastri, Y Tan, D Oetomo, Speed control of non-collocated stator-rotor synchronous motor with application in robotic surgery, 10th Asian Control Conference, Kota Kinabalu 31 May - 3 June 2015
  10. J Fong, V Crocher, D Oetomo, Y Tan; An Investigation into the Reliability of Upper-limb Robotic Exoskeleton Measurements for Clinical Evaluation in Neurorehabilitation, accepted to the 7th International IEEE EMBS Conference on Neural Engineering, Montpellier, 22-24 April 2015.
  11. L. Vongchanh, A. Mohammadi, A Kealy, D Oetomo, Dynamically balanced trajectory generation for non-holonomic forklift vehicles, Procs. Australasian Conference on Robotics and Automation, Melbourne 2-4 Dec 2-14
  12. C. Freeman, S-H. Zhou, Y. Tan, D. Oetomo, E. Burdet, I. Mareels, On Experimentally Validated Iterative Learning Control in Human Motor Systems, Procs. American Control Conference (ACC 2014), Portland, Oregon, June 4-6, 2014.
  13. V. Crocher, J. Fong, M. Klaic, D. Oetomo, Y. Tan, A tool to address movement quality outcomes of post-stroke patients, the International Conference on NeuroRehabilitation (ICNR2014), Aalborg 24-26 June 2014.
  14. D Lau, J. Eden, S. Halgamuge, D. Oetomo Cable function analysis for the musculoskeletal static workspace of a human shoulder, Second International Conference on Cable-Driven Parallel Robots (CableCon2014) 24 - 27th August 2014, Duisburg, Germany
  15. H Sugianto, D Lau, C Burvill, P Lee, D Oetomo, Trajectory Generation for Underactuated Bipedal Mechanisms with Kinematic Constraints, in Proceedings of IEEE International Conference on Advanced Robotics, November 25-29, 2013, Montevideo, Uruguay, Paper ID 138, to be published in IEEE Xplore.
  16. MC Lei, D Oetomo, Modelling of cabling wrapping phenomenon towards an improved cable-driven mechanism, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2013, Wollongong, 9-12 July 2013, pp 649-655.
  17. HM Wang, H Guo, Y Luan, D Oetomo, A Rotary Joint Based on Dielectric Elastomer, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2013, Wollongong, 9-12 July 2013, pp 117-121.
  18. SH Zhou, Y Tan, D. Oetomo, C. Freeman, E. Burdet, I Mareels, Point-to-point Learning in Human Motor Systems, in Procs. American Control Conference (ACC), pp5923-28, 2013.
  19. SH Zhou, Y Tan, D Oetomo, C Freeman, I Mareels, On On-line Sampled-data Optimal Learning for Dynamic Systems with Uncertainties, Asian Control Conference, 23-26 June 2013, Istanbul.
  20. R. Shvartsman, Y. Tan, and D. Oetomo, State to state motion planning for underactuated systems using a modified rapidly exploring random tree algorithm, International Conference on Climbing and Walking Robots, 14-17 July 2013, Sydney, Australia, pp 749-760.
  21. F Malekipour, P Lee, D Oetomo, Depth-Dependent Compressive Strain of Articular Cartilage during Unconfined Impact Compression, ORS 2013 Annual Meeting Podium Presentation, Jan 26-29 2013, San Antonio, TX, pp: 0307.
  22. H Mokhtarzadeh, A Ng, CH Yeow, F Malekipour, D Oetomo, P Lee, Effect of inhibited tibial rotation on valgus torque upon ACL failure during simulated landing, ORS 2013 Annual Meeting Poster Presentation, Jan 26-29 2013, San Antonio, TX, pp: 0896
  23. D. Lau, J. Eden, D. Oetomo, Motion Planning of a Planar 3R Manipulator Utilising Fluid Flow Trajectory Generation, in Procs. Australasian Conference on Robotics and Automation, ACRA 2012, 3-5 December 2012, Wellington, NZ.
  24. D. Lau, K. Bhalerao, D. Oetomo, S. Halgamuge,?On the Task Specific Evaluation and Optimisation of Cable-Driven Manipulators, in Procs. ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012), 9-11 July 2012, Tianjin. pdf
  25. SH Ip, C Chen, RP Chen, D Oetomo, Development of Reconfigurable Spherical Motion Generator, in Procs. ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012), 9-11 July 2012, Tianjin.
  26. KY Ng, CP Tan, D Oetomo, Enhanced Fault Reconstruction using Cascaded Sliding Mode Observers, in Procs. The 12th IEEE International Workshop on Variable Structure Systems (VSS 2012), January 12-14, 2012, Bombay, India, page, pp 208-213.
  27. S. Roosen, D. Oetomo, M. Galea, Online Estimation of Foot-Ground Friction Constraint for Bipedal Gait Robot Operation, Proc. the 15th International Conference on Mechatronics Technology (ICMT 2011), Nov 30-Dec 2, 2011, Novotel Melbourne, page 574-579.
  28. S. Ip, C. Chen, D. Oetomo, Dynamics Modelling of Reconfigurable Spherical Motion Generator, Proc. The 15th International Conference on Mechatronics Technology (ICMT 2011), Nov 30-Dec 2, 2011, Novotel Melbourne, page 494-499.
  29. S-H. Zhou, D. Oetomo, Y. Tan, E. Burdet, and I. Mareels, Optimal learning gain selection in model reference iterative learning control algorithm for computational human motor systems, Procs of the Inaugural Australian Control Conference, Nov 10-11, 2011, Melbourne, p 338-344.postprint: pdf
  30. S-H Zhou, D Oetomo, Y Tan, E Burdet, I Mareels, Human Motor Learning Through Iterative Model Reference Adaptive Control, in Procs of the 18th World Congress of the International Federation of Automatic Control (IFAC), Aug 28-Sep 2, 2011, Milan, p 2883-2888. postprint: pdf
  31. H. Mokhtarzadeh, C.H. Yeow, P.V.S. Lee, J.C.H. Goh and D. Oetomo, Muscles Recruitment of Lower Extremities in Different Landing Heights: Implication for ACL injury, in Procs. Orthopaedic Research Society (ORS) Annual Meeting, 13-16 January 2011, Long Beach, CA, paper number 0340.
  32. H. Mokhtarzadeh, C.H. Yeow, P.V.S. Lee, J.C.H. Goh and D. Oetomo, Understanding Anterior Cruciate Ligament Injury Due to Drop Landing: Effects of Different Landing Techniques and Muscles? Action at the Knee Joint, in Procs. 6th World Congress of Biomechanics (IFMBE Proceedings), August 1-6, 2010 Singapore, 2010, vol. 31, part 1, pp 171-173.
  33. D. Lau, T. Hawke, L. Kempton, D. Oetomo, and S. Halgamuge, Design and Analysis of 4-DOF Cable-Driven Parallel Mechanism, in Proceedings of the Australasian Conference on Robotics and Automation (ACRA 2010), Brisbane, 1-3 Dec 2010.
  34. S. Zhou, D. Oetomo, I. Mareels, E. Burdet, Modelling of Human Motor Control in an Unstable Task through Operational Space Formulation, in Procs. IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2010, Singapore, 7-10 Dec 2010, pp 2030-2035.
  35. G. Bennett, C. Manzie, D. Oetomo, J. Binns, N. Saunders, A wireless sensor network for system identification of sailboat dinghies, Simulation Industry Association of Australia Simulation Technology and Training Conference (SimTecT 2010), Brisbane, 31 May - 3 June, 2010 (Best Student Paper Award)
  36. SH. Ip, C. Chen, D. Oetomo, Novel 3-DOF Reconfigurable Spherical Motion Generator with Unlimited Workspace, Proceedings of the Australasian Conference on Robotics and Automation 2009 (ACRA 2009), Sydney, Dec 2-4 2009.
  37. D. Oetomo, D. Daney, K. Harada, J-P. Merlet, A. Menciassi, P. Dario, Topology Design of Surgical Reconfigurable Robots by Interval Analysis, Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009), Kobe, Japan, May 12-17, 2009, pp. 3085-3090.
  38. D. Oetomo, D. Daney, B. Shirinzadeh, J.-P. Merlet, Certified Workspace Analysis of 3RRR Planar Parallel Flexure Mechanism, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena CA, May 19-23, 2008, pp. 3838-3843. postprint:pdf
  39. D. Soewandito, D. Oetomo, M.H. Ang Jr, Neuro-Adaptive Motion Controller with Velocity Observer for Operational Space Formulation, Proceedings of the 17th IFAC World Congress, Seoul, Korea, July 6-11, 2008, vol 17, no.1.
  40. D. Soewandito, D. Oetomo, M.H. Ang Jr, The Operational Space Formulation with Neural-Network Adaptive Motion Control, Proceedings of the 17th IFAC World Congress, Seoul, Korea, July 6-11, 2008, vol. 17, no. 1.
  41. 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.
  42. 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.
  43. 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.
  44. 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.
  45. 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.
  46. 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.
  47. 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.
  48. 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.
  49. 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 (IROS05), Edmonton, Alberta, Canada, 2-6 August, 2005, pp. 3034-3039. post print: pdf
  50. 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.
  51. 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).
  52. 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.
  53. 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.
  54. 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.
  55. 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.
  56. 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. 2418-2423.
  57. 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. 400-405.