1.
Teleoperators and Haptic Interfaces
- An
introduction to my doctoral study: Control and geometry of mechanical teleoperaotors
(pdf)
- Movie of 4-DOF nonlinear teleoperator with guidance and avoidance (MPEG1
for Window Media Player)
Low Resolution 11Mb, Mid
Resolution 35Mb, High Resolution
75Mb
- Applications : Telesurgery
systems, Micro remote-assembly, Space-exploration systems, Virtual surgical
simulators
2. Distributed Multiple Mechanical Systems
- Formation flying for interferometry, Coordination and cooperative manipulation
by multiple mobile robots
- Movie of formation flying of three satellites, each has 6-DOF rigid-body
dynamics with full (6-DOF) actuations.
Cam Angle 1 (AVI, 7Mb), Cam
Angle 2 (AVI, 7Mb)
(generated using Matlab renderer developed by B. Land at Cornell University)
3. Control Problems of Human-Interactive Robots
- Surgeon-assistive
robots, Rehabilitational robotic sytsems, Haptic information display,
Human-robots interaction in assembly lines, Robotic aids for people with
disabilities, Exoskeletal systems
4. Automotive Engine Control
Journal
Publications
1) D. J. Lee & P. Y. Li, "Passive Feedforward Control for Linear Dynamically
Similar Bilateral Teleoperated Manipulators",
IEEE Trans. on Robotics and Automation (In press, June, 2003, pdf)
2) D. J. Lee & P. Y. Li, "Passive Bilateral Control of Nonlinear Mechanical
Teleoperators",
IEEE Trans. on Robotics and Automation (Submitted, pdf)
Conference
Publications
1) D. J. Lee & P.
Y. Li, "Formation and Manuever Control of Multiple Spacecrafts", ACC 2003,
Denver, CO (pdf)
2) D. J. Lee & P. Y. Li, "Toward Robust Passivity: A Passive Control
Implemetation Structure for Mechanical Teleoperators",
2003 11th Haptics and Teleoperator Symposium, IEEE VR 2003, LA, CA (pdf).
3) D. J. Lee & P. Y. Li, "Passive Coordination Control for Nonlinear
Bilateral Teleoperated Manipulators",
ICRA2002, Washington D.C.(pdf)
4) D. J. Lee & P. Y. Li, "Passive Tool Dynamics Rendering for Nonlinear
Bilateral Teleoperated Manipulators",
ICRA2002, Washington D.C.(pdf)
5) D. J. Lee & P. Y. Li, "Passive Control Approaches to Bilateral Teleoperated
Manipulators: Robust Control and Experiments",
ACC2001, Washington D.C. (pdf)
6) P. Y. Li & D. J. Lee "Passive Feedforward Approach to Bilateral
Teleoperated Manipulators",
Haptic and Teleoperator Symposium, IMECE, ASME, 2000, Orlando, FL (pdf)