Darwin Lau

CU-brick cable-driven robot for automated construction of complex brick structures: From simulation to hardware realisation

Y Wu, HH Cheng, A Fingrut, K Crolla, Y Yam, D Lau

Conference Proceedings  |  2018  |  2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2018

Robotic building construction has had significant advances in the recent decades, but also has various limitations. In particular,..

Reference State Trajectory Generation for Output Tracking with Constraints using Search Trees

Jonathan Eden, Ying Tan, Darwin Lau, Denny Oetomo

Conference Proceedings  |  2018  |  2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC)

This paper generates a reference state trajectory from a given reference output trajectory for redundant nonlinear affine dynamic ..

Initial length and pose calibration for cable-driven parallel robots with relative length feedback

D Lau

Conference Proceedings  |  2018  |  Mechanisms and Machine Science

Feedback of cable lengths is commonly used in the determination of the robot pose for cable-driven parallel robots (CDPRs). As suc..

CASPR-ROS: A Generalised Cable Robot Software in ROS for Hardware

Jonathan Eden, Chen Song, Ying Tan, Denny Oetomo, Darwin Lau

Conference Proceedings  |  2018  |  Mechanisms and Machine Science

In this paper, the software platform CASPR-ROS is introduced to extend the author’s recently developed simulation platform CASPR. ..

A survey on inverse dynamics solvers for cable-driven parallel robots

YP Chan, J Eden, D Lau, D Oetomo

Conference Proceedings  |  2017  |  Australasian Conference on Robotics and Automation, ACRA

Available acceleration set for the study of motion capabilities for cable-driven robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo

Journal article  |  2016  |  MECHANISM AND MACHINE THEORY

The study of the ability of a cable driven robot (CDR) to generate motion between poses (motion generation capability) is importan..

On the positive output controllability of linear time invariant systems

Jonathan Eden, Ying Tan, Darwin Lau, Denny Oetomo

Journal article  |  2016  |  AUTOMATICA

This paper considers the output controllability of autonomous linear control systems that are subject to non-negative input constr..

CASPR: A Comprehensive Cable-Robot Analysis and Simulation Platform for the Research of Cable-Driven Parallel Robots

Darwin Lau, Jonathan Eden, Ying Tan, Denny Oetomo

Conference Proceedings  |  2016  |  2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)

The study of cable-driven parallel robots (CDPRs) has attracted much attention in recent years. However, to the best of the author..

Fluid Motion Planner for Nonholonomic 3-D Mobile Robots With Kinematic Constraints

Darwin Lau, Jonathan Eden, Denny Oetomo

Journal article  |  2015  |  IEEE TRANSACTIONS ON ROBOTICS

Fluid motion planners are a type of artificial potential field (APF) motion planners that use the differential equations of fluid ..

Inverse Dynamics of Multilink Cable-Driven Manipulators With the Consideration of Joint Interaction Forces and Moments

Darwin Lau, Denny Oetomo, Saman K Halgamuge

Journal article  |  2015  |  IEEE TRANSACTIONS ON ROBOTICS

Joint interaction forces and moments play a significant role within multilink cable-driven manipulators (MCDMs). In this paper, th..