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Automatic Control

Faculty of Engineering, LTH

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Robotics

Research Publications of Prof. Rolf Johansson 

 

Publications in Robotics

 

2020

  1. Yuling Li, Yixin Yin, Sen Zhang, Jie Dong, R. Johansson, Composite Adaptive Control for Bilateral Teleoperation Systems without Persistency of Excitation, Journal of the Franklin Institute, Vol. 357, No. 2, pp. 773-795.

  2. Yuling Li, Kun Liu, Wei He, Yixin Yin, R. Johansson, and Kai Zhang, Bilateral Teleoperation of Multiple Robots under Scheduling Communication, IEEE Trans. Control Systems Technology, Vol. 28, No. 5, pp. 1770-1784.

 

2019

  1. M. M. Ghazaei Ardakani, B. Olofsson, A. Robertsson, and R. Johansson, Model Predictive Control for Real-Time Point-to-Point Trajectory Generation, IEEE Trans. Automation Science and Engineering, Vol. 16, No. 2, 2019, pp. 972-983.
  2. M. Greiff, Z. Sun, A. Robertsson, and R. Johansson, Temporal Viability Regulation for Control Affine Systems with Applications to Mobile Vehicle Coordination under Time-Varying Motion Constraints, Proc. 2019 European Control Conference (ECC 2019), Jun 25-28, 2019, Naples, Italy, pp. 3571-3576.
  3. M. J. E. Salami, R. Johansson, K. K. Leang, Q. Zou, S. Devasia, and C. N. Dorny, Signals and Systems, In R. H. Bishop (Ed.) Mechatronic System Control, Logic, and Data Acquisition. CRC Press/Balkema, Boca Raton, FL , 2019, p. 3-1-3-60.
  4. Z. Sun, M. Greiff, A. Robertsson and R. Johansson, Feasible Coordination of Multiple Homogeneous or Heterogeneous Mobile Vehicles with Various Constraints, Proc. 2019 Int. Conf. Robotics and Automation (ICRA2019), May 20-24, 2019, Montreal, Canada, pp. 1008-1013.

 

 

2018

  1. M. Ghazaei Ardakani, M. Karlsson, K. Nilsson, A. Robertsson and R. Johansson, Master-Slave Coordination Using Virtual Constraints for a Redundant Dual-Arm Haptic Interface, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2018), 1-5 Oct 2018, Madrid, Spain, pp. 8751-8757.
  2. M. Karlsson, A. Robertsson and R. Johansson, Convergence of Dynamical Movement Primitives with Temporal Coupling, Proc. 2018 European Control Conference (ECC2018), June 12-15, 2018. Limassol, Cyprus, pp. 32-39.
  3. M. Karlsson, A. Robertsson and R. Johansson, Detection and Control of Contact Force Transients in Robotic Manipulation without a Force Sensor, Proc. 2018 IEEE Int. Conf. Robotics and Automation (ICRA2018), May 21-25, 2018, Brisbane, Australia, pp. 4091-4096.

 

2017

  1.    M. Capurso, M. Ghazaei, R. Johansson, A. Robertsson, P. Rocco, Sensor-Less Kinesthetic Teaching of Robotic Manipulators Assisted by Observer-Based Force Control, Proc. IEEE Int. Conf. Robotics and Automation (ICRA 2017). Singapore, May 29 - June 3, 2017, pp. 945-950.
  2. M. Karlsson, F. Bagge Carlson, A. Robertsson, R. Johansson. Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives. Preprints 20th IFAC World Congress, International Federation of Automatic Control (IFAC 2017), Toulouse, France, July 9-14, 2017, pp. 1959-1966.
  3. M. Karlsson, A. Robertsson, R. Johansson, Autonomous Interpretation of Demonstrations for Modification of Dynamical Movement Primitives, Proc. IEEE Int. Conf. Robotics and Automation (ICRA 2017). Singapore, May 29 - June 3, 2017, pp. 316-321.
  4. M. Wadenbäck, M. Karlsson, A. Heyden, A., Robertsson, R. Johansson, Visual Odometry from Two Point Correspondences and Initial Automatic Tilt Calibration, Proc. 12th Int. Joint Conf. Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2017). F. Imai, A. Tremeau, & J. Braz (Eds.). SciTePress, Vol. 6, pp. 340-346.

 

2016

  1. F. Bagge Carlson, M. Karlsson, A. Robertsson, R. Johansson, Particle Filter Framework for 6D Seam Tracking Under Large External Forces Using 2D Laser Sensors, Proc. 2016 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2016), Oct 9-14, 2016, Daejeon, Korea, pp. 3728-3734.
  2. M. Mahdi Ghazaei Ardakani, M. Stenmark, A. Stolt, R. Johansson, Robot Programming Using Guarded Motion, ICRA 2016 Workshop Exploiting Contact and Dynamics in Manipulation, May 16, 2016, Proc. IEEE Int. Conf. Robotics and Automation (ICRA2016), May 16-21, 2016, Stockholm, Sweden.
  3. R. Johansson, A. Robertsson, A. Shiriaev, Observer-Based Strictly Positive Real (SPR) Variable Structure Output Feedback Control, Journal of the Franklin Institute, Vol. 353, No. 16, Nov. 2016, pp. 4213–4232.
  4. B. Olofsson, J. Antonsson, H. G. Kortier, B. Bernhardsson, A. Robertsson, and R. Johansson, Sensor Fusion for Robotic Workspace State Estimation, IEEE/ASME Trans. Mechatronics, Vol. 21, No. 5, 2016, pp. 2236-2248.
  5. M. Stenmark, A. Stolt, E. A. Topp, M. Haage, A. Robertsson, K. Nilsson, and R. Johansson, The GiftWrapper: Programming a Dual-Arm Robot with Lead-Through, ICRA 2016 Workshop Human-Robot Interfaces for Enhanced Physical Interactions, May 16, 2016, IEEE Int. Conf. Robotics and Automation (ICRA2016), May 16-21, 2016, Stockholm, Sweden.

 

2015  

  1. F. Bagge Carlson, R. Johansson, and A. Robertsson, Six DOF Eye-to-Hand Calibration from 2D Measurements Using Planar Constraints, Proc. 2015 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2015), Sep 28 - Oct 2, 2015, Hamburg, Germany, pp. 3628-3632.
  2. F. Bagge Carlson, A. Robertsson, and R. Johansson, Modeling and Identification of Position and Temperature Dependent Friction Phenomena without Temperature Sensing, Proc. 2015 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2015), Sep 28 - Oct 2, 2015, Hamburg, Germany, pp. 3045-3051.
  3. M. M. Ghazaei Ardakani, B. Olofsson, A. Robertsson, and R. Johansson, Real-Time Trajectory Generation using Model Predictive Control, Proc. 2015 IEEE Int. Conf. Automation Science and Engineering (CASE2015), Aug 24-28, 2015. Gothenburg, Sweden, pp. 942-948. Best Student Paper Award—Finalist.
  4. M. M. Ghazaei Ardakani, A. Robertsson, and R. Johansson, Online Minimum-Jerk Trajectory Generation, Proc. IMA Conf. Mathematics of Robotics, 9-11 Sep 2015, Oxford, pp. 1-8.
  5. M. M. Ghazaei Ardakani, M. Stemmann, A. Robertsson, and R. Johansson, An Analytic Solution to Fixed-Time Point-to-Point Trajectory Planning, Proc. 2015 IEEE Conference on Control Applications (CCA2015), 2015 IEEE Multi-Conference on Systems and Control (MSC2015), Sep 21-23, 2015, Sydney, Australia, pp. 306-311.
  6. Y. Hashimoto, D. Yatou, T. Yamada, H. Yamamoto, R. Johansson, 掌 にカメラを装着した4 12 自由度ハン ドによる治具組立の基礎研究 (Fundamental Study on Robotic Assembly of Fixtures by a 4-Finger 12-DOF Hand Equipped with a Camera to Its Palm), Proc. 2015 JSME Conf. Robotics and Mechatronics (ROBOMECH20015), Kyoto, Japan, May 17-19, 2015, pp. 2P1-W06:1-4.
  7. Sang Hyoung Lee, Il Hong Suh, S. Calinon, R. Johansson, Autonomous Framework for Segmenting Robot Trajectories of Manipulation Task, Autonomous Robots, Vol. 38, No. 2, 2015, pp. 107-141.
  8. Yuling Li, R. Johansson, Kun Liu, Yixin Yin, Guaranteed Cost Control Design for Delayed Teleoperation Systems, J. Franklin Institute, Vol. 352, No. 11, 2015, pp. 5085–5105.
  9. Yuling Li, R. Johansson and Yixin Yin, Acceleration feedback control for nonlinear teleoperation systems with time delays, International Journal of Control, 2015.
  10. T. Nakano, S. Uozumi, R. Johansson, K. Ohnishi, A Quantization Method for Haptic Data Lossy Compression, Proc. IEEE/IES Int. Conf. Mechatronics (ICM2015),  March 6-8, 2015, Nagoya Institute of Technology, Nagoya, Japan, pp. 126-131.
  11. K. Niwa, T. Yamada, H. Yamamoto, R. Johansson,  剛 性行列の偏微分を用いた把持位置の最適化 (Grasp Position Optimization Using the Partial Differentiation of the Grasp Stiffness Matrix), Proc. 2015 JSME Conf. Robotics and Mechatronics (ROBOMECH20015), Kyoto, Japan, May 17-19, 2015, pp. 1P2-O01:1-4.
  12. C. D. Pham, F. Coutinho, A. C. Leite, F. Lizarralde, P. J. From, and R. Johansson, Analysis of a Moving Remote Center of Motion for Robotics-Assisted Minimally Invasive Surgery, Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), Sept 28 - Oct 2, 2015. Hamburg, Germany, pp. 1440-1446.
  13. O. Sörnmo, B.  Olofsson, A. Robertsson, and Rolf Johansson,  Learning Approach to Cycle-Time-Minimization of Wood Milling Using Adaptive Force Control, ASME J. Manuf. Sci. Eng., 2015, Vol. 138, No. 1, pp. 011013-011013-11, 2015, doi: 10.1115/1.40307.
  14. A. S. Shiriaev, L. B. Freidovich, A. Robertsson, A. Andersson, R. Johansson, IQC arguments for Analysis of the 3-state Moore-Greitzer Compressor System, Preprints, 1st IFAC Conf. Modelling, Identification and Control of Nonlinear Systems (MICNON2015), June 24-26, 2015. Saint Petersburg, Russia, pp. 262-267.
  15. A. S. Shiriaev, L. B. Freidovich, A. Robertsson, A. Andersson, and R. Johansson, Sufficient Conditions for Dynamic Stabilization of 3-State Moore-Greitzer Compressor Model, Proc. 2015 IEEE 54th Conf. Decision and Control (CDC2015), Dec 15-18, 2015, Osaka, Japan, pp. 4394-4399.
  16. A. Stolt, M. Linderoth, A. Robertsson, R. Johansson, Detection of Contact Force Transients in Robotic Assembly, Proc. 2015 IEEE Int. Conf. Robotics and Automation (ICRA2015), Seattle, WA, May 26-30, 2015, pp. 962-968. Best Automation Paper Award—Finalist. Best Conference Paper Award—Finalist. Best Student Paper Award—Finalist.
  17. A. Stolt, F. Bagge Carlson, M. M. Ghazaei Ardakani, I. Lundberg, A. Robertsson, R. Johansson, Sensorless Friction-Compensated Passive Lead-Through Programming for Industrial Robots, Proc. 2015 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS2015), Sep 28 - Oct 2, 2015. Hamburg, Germany, pp. 3530-3537.
  18. A. Stolt, M. A. Robertsson, R. Johansson, Robotic Force Estimation using Dithering to Decrease the Low Velocity Friction Uncertainties, Proc. 2015 IEEE Int. Conf. Robotics and Automation (ICRA2015), Seattle, WA, May 26-30, 2015, pp. 3896-3902.
  19. T. Yamada,  R. Johansson,  A. Robertsson and  H. Yamamoto, Static Stability Analysis of a Planar Object Grasped by Multifingers with Three Joints, Robotics, Vol. 4, No. (4), pp. 464-491, 2015; doi:10.3390/robotics4040464.

 

2014

  1.  A. Andersson, A. Robertsson, A. S. Shiriaev, L. B. Freidovich, R. Johansson, Robustness of the Moore-Greitzer Compressor Model Surge Subsystem with New Dynamic Output Feedback Controllers, Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC2014), Cape Town, South Africa. August 24-29, 2014, pp. 3690-3695.
  2. F. Bagge Carlson, Ngoc Dung Vuong and R. Johansson, Polynomial Reconstruction of 3D Sampled Curves Using Auxiliary Surface Data, Proc.  2014 IEEE International Conference on Robotics & Automation (ICRA2014), Hong Kong, May 31-June 7, 2014. Hong Kong, China, pp. 4411-4416.
  3. P. Cano Marchal, O. Sörnmo, B. Olofsson, A. Robertsson, J. Gómez Ortega,  R. Johansson, Iterative Learning Control for Machining with Industrial Robots, Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC2014), Cape Town, South Africa. August 24-29, 2014, pp. 9327-9333.
  4. P.  J. From, Cho Jang Ho, A. Robertsson, T. Nakano, M. Ghazaei, and R. Johansson, Hybrid Stiff/Compliant Workspace Control for Robotized Minimally Invasive Surgery, Proc. 2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), August 12-15, 2014. São Paulo, Brazil, pp. 345-351.
  5. P.  J. From,  A. Robertsson, R. Johansson, On the Manipulability of Velocity-Constrained Serial Robotic Manipulators, Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC 2014), Cape Town, South Africa. August 24-29, 2014, pp. 10934-10939.
  6. M. M. Ghazaei Ardakani,  Jang Ho Cho, R. Johansson, A. Robertsson, Trajectory Generation for Assembly Tasks via Bilateral Teleoperation, Preprints of the 19th World Congress of the International Federation of Automatic Control (IFAC 2014), Cape Town, South Africa. August 24-29, 2014, pp. 10230-10235.
  7. R. Johansson, K. Nilsson, A. Robertsson,  Force Control, Handbook of Manufacturing Engineering and Technology. In A. Nee (Ed.), Handbook of Manufacturing Engineering and Technology, Springer, London, 2014, pp. 1933-1965.
  8. T. Nakano, R. Johansson, K. Ohnishi, Recognition of Surfaces Based on Haptic Information Using Self-Organizing Maps, Proc. 40th Annual Conf. IEEE Industrial Electronics Society (IECON2014), Dallas, TX,  Oct. 29-Nov. 1, 2014, pp. 4057-4062. Best Presentation Recognition.
  9. B. Olofsson, O. Sörnmo, A. Robertsson, R. Johansson, Continuous-Time Gray-Box Identification of Mechanical Systems Using Subspace-Based Identification Methods, Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014, Besançon, France, pp. 327-333.
  10. U. Schneider, B. Olofsson, O. Sörnmo, M. Drust, A. Robertsson, M. Hägele, R. Johansson, Integrated Approach to Robotic Machining with Macro/Micro-Actuation, Robotics and Computer-Integrated Manufacturing, Vol. 30, No. 6, 2014, pp. 636-647.
  11. T. Yamada, S. Nakanishi, H. Yamamoto, R. Johansson, Identification of Contact Conditions between Fingers and a Grasped Object by Active Force Sensing, Proc. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), July 8-11, 2014. Besançon, France, pp. 1224-1229.
  12. T. Yamada, H. Torii, H. Yamamoto, R. Johansson, Second-Order Mobility Analysis of Grasps Considering Contact Surface Geometry, Proc. Seventeenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2014), Poznan, Poland, 21–23 July 2014.

 

2013

  1.  M. Linderoth, A. Robertsson, R. Johansson,  Color-Based Detection Robust to Varying Illumination Spectrum, Proc. IEEE Workshop on Robot Vision (WoRV2013), January 16-17, 2013,  Clearwater, FL, USA.
  2. M. Linderoth, A. Stolt, A. Robertsson, R. Johansson, Robotic Force Estimation Using Motor Torques and Modeling of Low Velocity Friction Disturbances, Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-7, 2013. Tokyo, Japan, pp. 3550-3556.
  3. A. Pettersson, K. J. Åström, A. Robertsson, R. Johansson, Nonlinear Feedforward and Reference Systems for Adaptive Flight Control, Proc. AIAA Guidance, Navigation, and Control (AIAA GNC 2013) Conference, August 19-22, 2013, Boston, MA, USA, AIAA 2013-500.
  4. A. A. Rubanova, A. Robertsson, A. S. Shiriaev, L. Freidovich, R. Johansson, Analytic Parameterization of Stabilizing Controllers for the Surge Subsystem of the Moore-Greitzer Compressor Model, Proc. 2013 American Control Conference (ACC2013), June 17-19, 2013, Washington, DC, USA, pp. 5265-5270.
  5. O. Sörnmo, B. Olofsson, A. Robertsson and R. Johansson, Adaptive Internal Model Control for Mid-Ranging of Closed-Loop Systems with Internal Saturation, Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-7, 2013. Tokyo, Japan, pp. 4893-4899.
  6. A. Stolt, M. Linderoth, A. Robertsson, R. Johansson, Robotic Assembly of Emergency Stop Buttons, Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), November 3-7, 2013. Tokyo, Japan, p. 2081.

 

2012

  1. J. H. Cho, H. I. Son, M. Annerstedt, A. Robertsson,  R. Johansson. Enhancement of Human Operator’s Perceptual Sensitivity for Telesurgical Systems via Polytopic System Approach. Proc. 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Roma, Italy, June 24-27, 2012, pp. 75-80
  2. J. H. Cho, P. J. From, M. Annerstedt, A. Robertsson, and R. Johansson. Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal, pp. 1292-1297.
  3. R. Johansson,  A. Robertsson, A. Shiriaev. Observer-Based Strictly Positive Real (SPR Variable Structure Output Feedback Control, Proc. 12th IEEE International Workshop on Variable Structure Systems (VSS2012), January 12-14, Mumbai, India, 2012, pp. 452-457
  4. H. Jörntell, P.-O. Forsberg, F. Bengtsson, R. Johansson. Mathematical Modeling of Brain Circuitry during Cerebellar Movement Control. In Yunhui Liu, Dong Sun (Eds.), Biologically Inspired Robotics, Chapter 14, CRC Press, Taylor & Francis, Boca Raton, FL, 2012, pp. 263-276
  5. A. Pettersson, K. J. Åström, A. Robertsson and R. Johansson, Analysis of Linear L1 Adaptive Control Architectures for Aerospace Applications, Proc. 51st IEEE Conf. Decision and Control (CDC2012), Dec.10-13, 2012. Maui, Hawaii, USA, pp. 1136-1141
  6. B. Olofsson, O. Sörnmo, U. Schneider, M. Barho, A. Robertsson, R. Johansson. Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control. Proc.10th International IFAC Symposium on Robot Control (SYROCO2012), Dubrovnik, Croatia, 5-7 September 2012.
  7. Sang Hyoung Lee, Il Hong Suh, S. Calinon, and R. Johansson. Learning Basis Skills by Autonomous Segmentation of Humanoid Motion Trajectories, Proc. 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Nov. 29-Dec. 1, 2012. Business Innovation Center, Osaka, Japan, pp. 112-119.
  8. O. Sörnmo, B. Olofsson, A.  Robertsson, R. Johansson, Increasing Time-Efficiency and Accuracy of Robotic Machining Processes Using Model-Based Adaptive Force Control, Proc. 10th International IFAC Symposium on Robot Control (SYROCO2012), Dubrovnik, Croatia, 5-7 September 2012.
  9. O. Sörnmo, B. Olofsson, U. Schneider, A. Robertsson, R. Johansson. Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator, Proc. 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2012), 11-14 July 2012, Kaohsiung, Taiwan,  pp. 104-110.
  10. A. Stolt, M. Linderoth, A. Robertsson, R. Johansson, Force Controlled Robotic Assembly without a Force Sensor, 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), Saint Paul, MN, May 14-18, 2012, pp.1538-1543. Best Automation Paper Award.
  11. A. Stolt, M. Linderoth, A. Robertsson, R. Johansson. Adaptation of Force Control Parameters in Robotic Assembly, Proc. 10th Int. IFAC Symposium on Robot Control (SYROCO 2012),  Dubrovnik, Croatia, Sep. 5-7 2012, pp. 561-566.
  12. A. Stolt, M. Linderoth, A. Robertsson, R. Johansson. Robotic Assembly Using a Singularity-Free Orientation Representation Based on Quaternions. Proc. 10th Int. IFAC Symposium on Robot Control (SYROCO 2012), Dubrovnik, Croatia, Sep 5-7 2012, pp. 549-554.


2011

 

  1. A. Björkelund, L. Edström, M. Haage, J. Malec, K. Nilsson, P. Nugues, S. Gestegård Robertz, D. Störkle, A. Blomdell, R. Johansson, M. Linderoth, A. Nilsson, A. Robertsson, A. Stolt, H. Bruyninck, On the Integration of Skilled Robot Motions for Productivity in Manufacturing, Proc. IEEE/CIRP International Symposium on Assembly and Manufacturing (ISAM 2011), May 25-27, 2011, Tampere, Finland
  2. M. Mahdi Ghazaei A., H. Jörntell and R. Johansson, ORF-MOSAIC for Adaptive Control of a Biomimetic Arm, Proc.  2011 IEEE International Conference on Robotics and Biomimetics (ROBIO 2011), December 7-11, 2011, Phuket Island, Thailand, pp. 1273-1278. ISBN 978-1-4577-2137-3
  3. M. Linderoth, K. Soltesz, A. Robertsson, R. Johansson. Initialization of the Kalman Filter without Assumptions on the Initial State, Proc. 2011 IEEE International Conference on Robotics and Automation  (ICRA 2011), May 9-13, 2011, Shanghai, China, pp. 4992-4997
  4. A. Stolt, M. Linderoth, A. Robertsson, R. Johansson. Force Controlled Assembly of Emergency Stop Button, Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA 2011), May 9-13, 2011, Shanghai, China, pp. 3751-3756
  5. A. M. Zanchettin, P. Rocco, A. Robertsson, R. Johansson. Exploiting task redundancy in industrial manipulators during drilling operations. Proc.  2011 IEEE International Conference on Robotics and Automation (ICRA 2011), May 9-13, 2011, Shanghai, China, pp. 128-133

 

2010

  1. L. Freidovich, A. Shiriaev, A. Robertsson, and R. Johansson, LuGre-Model-Based Friction Compensation, IEEE Transactions on Control Systems Technology, Vol. 18, No. 1, pp. 194–200, 2010.
  2. T. Olsson, M. Haage, H. Kihlman, R. Johansson, K. Nilsson, A. Robertsson, M. Björkman, R. Isaksson, G. Ossbahr, T. Brogårdh, Cost-Efficient Drilling Using Industrial Robots with High-Bandwidth Force Feedback, Robotics and Computer-Integrated Manufacturing, Vol. 26, pp. 24-38, 2010.
  3. M. Linderoth, A. Robertsson, K. Åström, and R. Johansson, Object Tracking with Measurements from Single or Multiple Cameras, Proc. 2010 IEEE Int. Conf. Robotics and Automation (ICRA 2010), May 3-8, 2010, Anchorage, Alaska, USA, pp. 4525-4530.

 

2009

  1. L. Freidovich, P. La Hera, U. Mettin, A. Robertsson, A. Shiriaev, R. Johansson, Shaping Stable Periodic Motions of Inertia Wheel Pendulum: Theory and Experiments, Asian Journal of Control, 11:5, pp. 1-10, 2009 (in press)
  2. J. Gámez García, A. Robertsson, J. Gómez Ortega, R. Johansson, Self-Calibrated Robotic Manipulator Force Observer, Robotics and Computer-Integrated Manufacturing, Vol. 25, No. 2, pp. 366-378, 2009. 
  3. M. Haage, I. Dressler, A. Robertsson, K. Nilsson, T. Brogårdh, R. Johansson, Reconfigurable Parallel Kinematic Manipulator for Flexible Manufacturing, Preprints 13th IFAC Symp. Information Control Problems in Manufacturing, Moscow, Russia, June 3 - 5, 2009, pp. 145-150
  4. R. Johansson, P. A.  Fransson, M. Magnusson, Optimal Coordination and Control of Posture and Movements, Journal of Physiology—Paris, Vol. 103, No. 3-5, pp. 159-177, 2009.
  5. R. Johansson and A. Robertsson, Stability of Robotic Obstacle Avoidance and Force Interaction, Preprints 9th International Symposium on Robot Control (SYROCO'09), The International Federation of Automatic Control, Gifu, Japan, September 9-12, 2009, pp. 709-714
  6. M. Linderoth, A. Robertsson, Karl Åström, R. Johansson, Vision Based Tracker for Dart Catching Robot, Preprints 9th International Symposium on Robot Control (SYROCO'09), The International Federation of Automatic Control, Gifu, Japan, September 9-12, 2009, pp. 883-888
  7. A. Shiriaev, R. Johansson, A. Robertsson, L. Freidovich,  Criteria for Global Stability of Coupled Systems with Application to Robust Output Feedback Design for Active Surge Control, Proc. 2009 IEEE Multi-conference on Systems and Control (MSC 2009), July 8-10, 2009, Saint Petersburg, Russia


2008

  1.  I. Dressler, A. Robertsson and R. Johansson, Automatic Kinematic Calibration of a Modular Gantry-Tau Parallel Robot from a Kinematics Point of View, Proc. 2008 IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, USA, May 19-23, 2008, pp. 1282-1287.
  2. . Freidovich, A. Robertsson, A. Shiriaev, R. Johansson, Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments,  Automatica, Vol. 44, No. 3, pp. 785-791.
  3. J. Gámez García, A. Robertsson, J. Gómez Ortega, R. Johansson, Sensor Fusion for Compliant Robot Motion Control, IEEE Transactions on Robotics,  Vol. 24, No. 2, April 2008. (In press).
  4. J. Gámez García, A. Robertsson, J. Gomez Ortega, R. Johansson, Improvement of Force Control in Robotic Manipulators Using Sensor Fusion Techniques, In M. Ceccarelli (Ed.), Robot Manipulators, In-Tech, Vienna, Austria,  2008, pp. 181-200.
  5. R. Johansson, J. Collado, R. Lozano, Strictly Positive Real Systems Based on Reduced-Order Observers,  Proc. 47th IEEE Conference on Decision and Control (CDC 2008), Cancun, Mexico, Dec. 9-11, 2008, pp. 2944-2948
  6. R. Lenain, A. Robertsson, R. Johansson, A. Shiriaev, Michel Berducat, A Velocity Observer Based on Friction Adaptation, Proc. 2008 IEEE International Conference on Robotics and Automation Pasadena (ICRA 2008), CA, USA, May 19-23, 2008, pp. 3365-3370
  7. A. Shiriaev, R. Johansson, A. Robertsson, L. Freidovich, Separation Principle for a Class of Nonlinear Feedback Systems Augmented with Observers, Proc. 17th IFAC2008 World Congress, Seoul, Korea, July 6-11, 2008, pp. 6196-6201


2007

 

  1. I. Dressler, A. Robertsson and R. Johansson, Accuracy of Kinematic and Dynamic Models of a Gantry-Tau Parallel Kinematic Robot, Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), Roma, Italy,  April 10-14, 2007, pp. 883-888
  2. I. Dressler, M. Haage, K. Nilsson, R. Johansson, A. Robertsson and T. Brogårdh, Configuration Support and Kinematics for a Reconfigurable Gantry-Tau Manipulator, 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), Roma, Italy,  April 10-14, 2007, pp.2957-2962
  3. L. Freidovich, A. Robertsson, A. Shiriaev, R. Johansson, Stable Periodic Motions of Inertia Wheel Pendulum via Virtual Holonomic Constraints, Proc. European Control Conference 2007 (ECC 2007)), Kos, Greece, July 2-5, 2007, pp. 3771-3776
  4. J. Gámez García, A. Robertsson, J. Gómez Ortega, and R. Johansson, Estimacíon de la Fuerza de Contacto para el Control de Robots Manipuladores con Movimientos Restringuidos (Contact Force Estimation for Compliant Motion Control), Revista Iberoamericana de Automática e Informática Industrial, Vol. 4, No. 1, pp. 70-82, 2007
  5. T. Olsson, R. Johansson, and A. Robertsson, Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments, In R. Vidal, A. Heyden, and Y. Ma (Eds.),  Dynamical Vision, Lecture Notes in Computer Science LNCS 4358, Springer-Verlag, Berlin Heidelberg, 2007, pp. 299–313 
  6. T. Olsson, A. Robertsson, and R. Johansson, Flexible Force Control for Accurate Low-Cost Robot Drilling, Proc. 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), Roma, Italy, April 10-14,   2007, pp. 4770-4775  
  7. R. Lenain, A. Robertsson, R. Johansson, A. Shiriaev, and M. Berducat, A Velocity Estimator Relying on Friction Observers: Application to Inverted Pendulum Stabilization, Preprints 7th IFAC Symp. Nonlinear Control Systems (NOLCOS 2007), August 21-24, 2007, Pretoria, South Africa, pp. 850-855
  8. A. S. Shiriaev, L. B. Freidovich, A. Robertsson, R. Johansson, A. Sandberg, Virtual-Holonomic-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments, IEEE Transactions on RoboticsVol. 23, No. 4, 2007, pp. 827 - 832
  9. A. S. Shiriaev, R. Johansson, and A. Robertsson,  Explicit Form of Lyapunov Functions for a Class of Nonlinear Feedback Systems Augmented with Observers, Preprints 7th IFAC Symp. Nonlinear Control Systems (NOLCOS 2007), August 21-24, 2007, Pretoria, South Africa, pp. 1032-1037


2006

 

  1. R. Fernandez, A. Robertsson, R. Johansson, T. Akinfiev and M. Armada, Observer Backstepping for Nonlinear Drive Control, Proc. 45th IEEE Conf. Decision & Control (CDC 2006), San Diego, CA, USA, December 13-15, 2006, pp. 6217-6222.
  2. L. Freidovich, A. Robertsson,  A. Shiriaev, R. Johansson, Stable Periodic Motions of the Pendubot via Virtual Holonomic Constraints, Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Nagoya, Japan, 2006, pp. 111-116.
  3. L.  Freidovich, A. Robertsson, A.  Shiriaev, R. Johansson, Friction compensation based on LuGre model, Proc. 45th IEEE Conf. Decision & Control (CDC 2006), San Diego, CA, USA, December 13-15, 2006, pp. 3837-3842.
  4. J. Gámez García, A. Robertsson, J. Gómez Ortega, R. Johansson, Generalized Contact Force Estimator for a Robot Manipulator, Proc. IEEE Int. Conf. Robotics and Automation (ICRA 2006),  Orlando, FL, pp. 4019-4024, May 2006.
  5. J. Gámez García, A. Robertsson, J. Gómez Ortega, R. Johansson, Estimador de las Fuerzas y Pares de Contacto Ejercidos por un Robot Manipulador sobre su Entorno (Estimator for Contact Forces and Moments Exerted by a Robot on Its Environment), XXVII Jornadas de Automática,  Almería, Spain, September 6-9, 2006, pp. 1279-1285.
  6. R. Johansson and A. Robertsson. The Yakubovich-Kalman-Popov Lemma and Stability Analysis of Dynamic Output Feedback Systems, International Journal of Robust and Nonlinear Control,  16, pp. 45-69, 2006.
  7. M. A. Kjær, R. Johansson, and A. Robertsson, Active Control of Thermoacoustic Oscillation, Proc. IEEE Int. Conf. Control Applications (CCA 2006),  Munich, Germany, October 4-6,  2006, pp. 2480-2485.
  8. T. Olsson, R. Johansson and A. Robertsson, High-speed visual robot control using an optimal linearizing intensity-based filtering approach, Proc. 2006 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2006), October 9-15, 2006, Beijing, China, pp. 1212-1217.
  9. P. Platonov, Yunlong Xia, Shiwen Yuan, R. Johansson, Non-fluoroscopic Catheter-based Mapping Systems in Cardiac Electrophysiology—From Approved Clinical Indications to Novel Research Usage,  The International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 2, No. 1 , pp. 21-27, 2006
  10. A. Robertsson, T. Olsson, R. Johansson, A. Blomdell, K. Nilsson, M. Haage, B. Lauwers, H. de Baerdemaeker, T. Brogårdh, H. Brantmark, Implementation of Industrial Robot Force Control—Case Study: High Power Stub Grinding and Deburring, Proc. 2006 IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2006), October 9-15, 2006, Beijing, China, pp. 2743-2748.
  11.  A. Shiriaev, L. Freidovich, A. Robertsson, R. Johansson, Virtual-Constraints-Based Design of Stable Oscillations of Furuta Pendulum: Theory and Experiments, Proc. 45th IEEE Conf. Decision & Control (CDC 2006), San Diego, CA, USA, December 13-15, 2006, pp. 6144-6149
  12. A. Shiriaev, A. Robertsson, L. Freidovich, R. Johansson, Coordinating Control for a Fleet of Underactuated Ships, In K. Y. Pettersen, J. T. Gravdahl, H. Nijmeijer (Eds.), Group Coordination and Cooperative Control, LNCIS 336, Springer-Verlag, Berlin Heidelberg, 2006, pp. 233-250.
  13. A. Shiriaev, A. Robertsson, L. Freidovich, R. Johansson,  Generating Stable Propeller Motions for Devil Stick, Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Nagoya, Japan, 2006, pp. 105-110.


2005

 

  1. A. Blomdell, G. Bolmsjö, T. Brogårdh, P. Cederberg, M. Isaksson, R. Johansson, M. Haage, K.Nilsson, M. Olsson, A. Robertsson, and J.J. Wang, Extending an Industrial Root Controller—Implementation and Applications of a Fast Open Sensor Interface, IEEE Robotics & Automation Magazine, Vol. 12, No. 3, September 2005, pp.85-94.
  2. J. Collado, R. Lozano and R. Johansson, Observer-Based Solution to the Strictly Positive Real Problem, In A. Astolfi (Ed.),  Nonlinear and Adaptive Control, Tools and Algorithms for the User, Imperial College Press, London, 2005.
  3. J. Gámez García, A. Robertsson, J. Gómez Ortega and R. Johansson. Automatic Calibration Procedure for a Robotic Manipulator Force Observer, Proc. 2005 IEEE, Int. Conf. Robotics and Automation (ICRA 2005), Barcelona, Spain, 18-22 April 2005, pp. 2714--2719
  4. J. Gámez García, A. Robertsson, J. Gómez Ortega and R. Johansson. Force and Acceleration Sensor Fusion for Compliant Robot Motion Control. Proc. 2005 IEEE, Int. Conf. Robotics and Automation (ICRA 2005), Barcelona, Spain, 18-22 April 2005, pp. 2720--2725
  5. J. Gámez García, A. Robertsson, J. Gómez Ortega and R. Johansson. Calibración Automática de un Observador de la Fuerza de Contacto para un Robot Manipulador (Automatic Calibration of a Contact Force Observer for a Robot Manipulator). XXVI Jornadas de Automática, Alicante, Spain, September 7-10, 2005
  6. J. Gámez García, A. Robertsson, J. Gómez Ortega  and R. Johansson, Self Calibrating Procedure for a 3D Force Observer, Proc. 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 (CDC-ECC'05) , Seville, Spain, December 12-15, 2005, pp. 6812-6817
  7. K. Nilsson, R. Johansson, A. Robertsson, R. Bischoff, T. Brogårdh, M. Hägele, Productive Robots and the SMErobot Project, Abstracts of Third Swedish Workshop on Autonomous Robotics (SWAR05),  Stockholm, September 1-2, 2005, September 2005. 
  8. T. Olsson, R. Johansson, and A. Robertsson. Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments. Proc. 10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision, Beijing, October 2005.
  9. A. Shiriaev, R. Johansson, A. Robertsson, and L. Freidovich, Output Feedback Stabilization of the Moore-Greitzer Compressor Model, Proc. 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 (CDC-ECC'05), Seville, Spain, December 12-15, 2005, pp.1102-1107
  10. P. Strandh, J. Bengtsson, R. Johansson, P. Tunestål and B. Johansson. Variable Valve Actuation for Timing Control of a Homogenous Charge Compression Ignition Engine. SAE Paper 2005-01-0147, 2005;  also in Homogenous Charge Compression Ignition (HCCI) Combustion 2005, SAE Special Publication SAE SP-1963, SAE, Warrendale, PA, April 2005,  ISBN 0-7680-1608-8, pp. 301-310.


2004

 

  1. J. Bengtsson, P. Strandh, R. Johansson, P. Tunestål and B. Johansson, Closed-loop Combustion Control of Homogenous Charge Compression Ignition (HCCI) Engine Dynamics, International Journal of Adaptive Control and Signal Processing, Vol. 18, pp. 167-179, 2004.
  2. J. Bengtsson, P. Strandh, R. Johansson, P. Tunestål and B. Johansson, System Identification of HCCI Engine Dynamics, Proc. IFAC Symp. Advances in Automotive Control (AAC04), Salerno, Italy, April19-23, 2004.
  3. J. Bengtsson, P. Strandh, R. Johansson, P. Tunestål and Bengt Johansson, Control of Homogeneous Charge Compression Ignition (HCCI) Engine Dynamics, Proc. 2004 American Control Conference (ACC04), Boston, Massachusetts, June 30 - July 2, 2004, pp. 4048-4053.
  4. J. Bengtsson, P. Strandh, R. Johansson, P. Tunestål and B. Johansson, Cycle-to-cycle Control of a Dual-Fuel HCCI Engine, SAE Paper 2004-01-0941, 2004.
  5. J. Gámez Garcı́a, A. Robertsson, J. Gómez Ortega, R. Johansson. Estimación de la Fuerza de Contacto para el Control de Robots Manipuladores con Movimientos Restringidos, XXV Jornadas de Automática, Ciudad Real, Spain, 8-10 Sep 2004. 
  6. J. Gámez García, A.  Robertsson, J. Gómez Ortega,  and R. Johansson,  Sensor Fusion of Force and Acceleration for Robot Force Control, Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2004), Sept. 28-Oct. 2, 2004, Sendai, Japan, pp. 3009-3014
  7. R. Johansson, A. Robertsson, K. Nilsson, T. Brogårdh, P. Cederberg, M. Olsson, T. Olsson, G. Bolmsjo, Sensor Integration in Task-level Programming and Industrial Robotic Task Execution Control, Industrial Robot: An International Journal, Vol. 31, No. 3,  pp. 284-296, 2004 
  8. J.-O. Olsson, R. Pfeiffer, P. Tunestål, R. Johansson and B. Johansson, Closed-loop System Identification of an HCCI Engine, Proc. IFAC Symp. Advances in Automotive Control (AAC04), Salerno, Italy, April19-23, 2004.
  9. T. Olsson, R. Johansson, and  A. Robertsson, Flexible Force-Vision Control for Surface Following using Multiple Cameras, Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2004), Sept. 28-Oct. 2, 2004, Sendai, Japan, pp. 798-803.
  10. R. Pfeiffer, G. Haraldsson, J.-O. Olsson, P. Tunestål, R. Johansson and B. Johansson, System Identification and LQG Control of Variable-Compression HCCI Engine Dynamics, Proc. 2004 IEEE Int. Conf. Control Applications (CCA 2004), Taipei, Taiwan, September 2-4, 2004,  pp. 1442-1447, 2004.
  11. A. Robertsson, A. Shiriaev and R. Johansson, Friction Compensation for Nonlinear Systems Based on the LuGre Model, Preprints 2004 IFAC Symp. Nonlinear Control Systems (NOLCOS 2004),  pp. 1439-1444, Stuttgart, Germany, 2004.
  12. A. Shiriaev,  R. Johansson and A. Robertsson, Some Comments on Output Feedback Stabilization of the Moore-Greitzer Compressor Model, Proc. 43rd IEEE Conference on Decision and Control (CDC 2004),  Dec. 14-17, 2004, Atlantis, Bahamas, pp. 4465-4466, 2004

 

2003

  1. A. Alcocer, A. Robertsson, A. Valera and R. Johansson, Force Estimation and Control in Robot Manipulators. Proc. 7th Symposium on Robot Control (SYROCO'03), September 1-3,  pp. 31-36, Wroclaw, Poland, September 2003.
  2. J. Bengtsson, R. Johansson and A. Sjögren,  Modeling of Drivers´ Longitudinal Behavior. In R. Johansson and A. Rantzer (Eds); Nonlinear and Hybrid Systems in Automotive Control, Springer-Verlag, London, 2003
  3. F. Calugi, A. Robertsson and R. Johansson, An Adaptive Observer for Dynamical Ship Position Control Using Vectorial Observer Backstepping, IEEE Conf. Decision and Control (CDC 2003), Maui, Hawaii, December 9-12, 2003, pp. 3262-3267.
  4. J. Collado, R. Lozano, and R. Johansson. Strictly Positive Real Problem with Observers. Proc. European Control Conference 2003 (ECC03) , September 1-4, 2003. Cambridge, UK.
  5. R. Johansson and A. Rantzer (Eds.), Nonlinear and Hybrid Systems in Automotive Control, Springer-Verlag, London, 2003, ISBN1-85233-652-8, (440pp.).
  6. R. Johansson and A. Robertsson. Robotic Force Control using Observer-based Strict Positive Real Impedance Control.  Proc. 2003 IEEE International Conference on Robotics and Automation (ICRA 2003),Taipei, Taiwan, September 14-19, 2003.
  7. T. Olsson, J. Bengtsson, A. Robertsson, and R. Johansson, Visual Position Tracking using Dual Quaternions with Hand-Eye Motion Constraints.  Proc. 2003 IEEE International Conference on Robotics and Automation (ICRA 2003), pp. 3491-3496, Taipei, Taiwan, September 14-19, 2003.
  8. A. Shiriaev, R. Johansson, A. Robertsson,  Sufficient Conditions for Dynamical Output Feedback Stabilization Via the Circle Criterion, Proc.  IEEE Conf. Decision and Control (CDC 2003), Maui, Hawaii, December 9-12, 2003, pp. 4682-4687.
  9. A. Shiriaev, A. Robertsson, and R. Johansson. Friction Compensation for Passive Systems based on the LuGre Model. Proc. 2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, pp. 183-188. Seville, Spain, 2003.
  10. P. Strandh, M. Christensen, J. Bengtsson, R. Johansson, A. Vressner, P. Tunestål, and B. Johansson. Ion Current Sensing for HCCI Combustion Feedback. SAE Paper 2003-01-3216, 2003.  

 

2002

  1. J. Bengtsson, M. Haage and R. Johansson,  Variable Time Delays in Visual Servoing and Task Execution Control, Proc. 2nd IFAC Conf. Mechatronic Systems, December 9-11, 2002, Berkeley, CA, USA, pp. 247-252. 
  2. J. Bengtsson, R. Johansson and A. Sjögren,  Modeling of Drivers´ Longitudinal Behavior. In R. Johansson and A. Rantzer (Eds); Nonlinear and Hybrid Systems in Automotive Control,   Springer-Verlag, London, 2002
  3. F. Calugi, A. Robertsson and R. Johansson, Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping, Proc. 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems (IROS 2002), EPFL, Lausanne, Switzerland, October 2002, pp. 2091-2096.
  4. A. E. Golubev, R. Johansson,  A. Robertsson and S. B. Tkachev, Стабилизация Выхода Неминимально-фазовых Систем с Помощью Обратного Хода по Наблюдателю (Output Stabilization of Nonminimum Phase Systems using Observer Backstepping), In S. V. Emel'yanov and S. K. Korovin (Eds.), Нелинейная Динамика и Управление  (Nonlinear Dynamics and Control), Fizmatlit, Moscow, 2002.
  5. R. Johansson. z-Transform and Digital Systems. In R. S. Bishop, Editor, The Mechatronics Handbook, chapter 23.2, pages 23-29--23-40. CRC Press, Boca Raton, FL, 2002. 
  6. R. Johansson and A. Rantzer (Eds.), Nonlinear and Hybrid Systems in Automotive Control, Springer-Verlag, London, 2003, ISBN1-85233-652-8, (440pp.).
  7. R. Johansson and A. Robertsson, Observer-based Strict Positive Real (SPR) Feedback Control System Design, Automatica, Vol. 38, 2002, pp. 1557-1564
  8. Kuan Luen Ng and R. Johansson, Evolving Programs and Solutions Using Genetic Programming with Application to Learning and Adaptive Control, Journal of Intelligent and Robotic Systems, 35: 289–307, 2002.
  9. T. Olsson, J. Bengtsson, R. Johansson, and H. Malm, Force Control and Visual Servoing Using Planar Surface Identification, Proc. 2002 IEEE Int. Conf. Robotics and Automation (ICRA 2002), Washington, DC, May 2002, pp. 4211-4216.
  10. A. Robertsson, D. Scalamogna, M. Grundelius and R. Johansson, Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control, Proc. 2002 IEEE Int. Conf. Robotics and Automation (ICRA 2002), Washington, DC, May 2002 , pp. 1290-1295.

 

2001

  1. J. Bengtsson, R. Johansson and A. Sjögren. Modeling of Drivers' Longitudinal Behavior. Proc. 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '01), 8-12 July 2001, Como, Italy.
  2. J. Collado, R. Lozano and R. Johansson, On Kalman-Yakubovich-Popov Lemma for Stabilizable Systems, IEEE Transactions on Automatic Control,, Vol. 46, No. 7, 1089-1093, 2001.
  3. D. Henriksson, R. Johansson and A. Robertsson. Observer-Based Impedance Control in Robotics. 5th IFAC Symp. Nonlinear Control Systems (NOLCOS 2001), St. Petersburg, Russia, July 4-6, 2001.
  4. R. Johansson, A. P. Krishchenko, D. A. Sidorov and S. B. Tkachev, Стабилизация Аффинных Систем Огранниченным Управлением  (Stabilization of Affine Systems with Saturating Control), Вестник МГТУ им. Н.Э. Баумана. Серия «Естественные науки» (Vestnik Moskovskogo  Gosudarstvennogo Technicheskogo Universiteta im. N. E. Baumana, Natural Sciences), Vol. 2 (7), pp. 31-45, 2001.
  5. R. Johansson and A. Robertsson. Observer-Based SPR Feedback Control System Design. Proc. 5th IFAC Symp. Nonlinear Control Systems (NOLCOS 2001), St. Petersburg, Russia, July 4-6, 2001.
  6. P. Tunestål, J. K. Hedrick and R. Johansson, Model-Based Estimation of Cylinder Pressure Sensor Offset using Least-Squares Methods, Proc. IEEE Conf. Decision and Control (CDC 2001), Orlando, Florida, December 2001, pp. 3740-3745.

 

2000

  1. J. Bengtsson, A. Ahlstrand, K. Nilsson, A. Robertsson, M. Olsson, A. Heyden, and R. Johansson. A robot playing scrabble using visual  feedback. Proc. 6th Int. IFAC Symposium on Robot Control (SYROCO 2000), Vienna, Austria, 2000.
  2. R. Johansson, A. Robertsson, K. Nilsson, and M. Verhaegen. State­-space system identification of robot manipulator dynamics. Mechatronics, 10:403-418, 2000.
  3. A. Robertsson, A. Valera, K. Nilsson, and R. Johansson. On­line reconfiguration of real­-time robot motion and force control. Proc. 6th Int. IFAC Symposium on Robot Control (SYROCO 2000), Vienna, Austria, September 21­-23 2000.

 

1999

  1. J. Collado, R. Lozano, and R. Johansson. On Kalman­-Yakubovich­-Popov lemma for stabilizable systems. Proc. IEEE Conf. Decision and Control (CDC'99), Phoenix, Arizona, 1999.
  2. R. Johansson and A. Robertsson. Extension of the Yakubovich­-Kalman­-Popov lemma for stability analysis of dynamic output feedback systems. Proc. IFAC World Congress (IFAC'99), volume F, Beijing, July 1999.
  3. R. Johansson, A. Robertsson, and R. Lozano. Stability analysis of adaptive output feedback control. Proc. IEEE Conf. Decision and Control (CDC'99), Phoenix, Arizona, December 1999.
  4. K. Nilsson and R. Johansson. Integrated architecture for industrial robot programming and control. Journal of Robotics and Autonomous Systems, 29:205-226, 1999.
  5. M. Persson, F. Botling, E. Hesslow, and R. Johansson. Stop­-and­-go controller for adaptive cruise control. Proc. 1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99), pages CCA-1692, Kohala Coast, HI, 1999.
  6. A. Robertsson and R. Johansson. Observer backstepping for nonminimum­-phase systems. Proc. IEEE Conf. Decision and Control (CDC'99), Phoenix, Arizona, 1999.
  7. A. Valera, A. Robertsson, K. Nilsson, and R. Johansson. Interactive on­-line evaluation of robot motion control. Proc. 1999 IEEE Int. Conf. Control Applications and the Symp. Computer Aided Control Systems Design (CCA'99&CACSD'99), pages CCA-1039, Kohala Coast, HI, 1999.

 

1998

  1. R. Johansson and A. Robertsson. Stability analysis of adaptive output feedback systems. Proc. IEEE Conf. Decision and Control (CDC'98), pp. 4008-4009, Tampa, Florida, December 16­-18 1998.
  2. R. Johansson and A. Robertsson. Stability analysis of adaptive output feedback systems. In 1998 CINVESTAV Workshop on Nonlinear, Adaptive and Linear Systems, Mexico City, December 11­-12 1998. Invited Presentation.
  3. A. Robertsson, J. Eker, K. Nilsson, and R. Johansson. Application­-specific control for industrial robots. Proc. 3rd Portuguese Conference on Automatic control (Controlo98), vol. 2, page 877, September 9­-11 1998. Coimbra, Portugal.
  4. A. Robertsson and R. Johansson. Comments on "Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping''. IEEE Transactions on Control systems Technology, 6(3):439-441, May 1998.
  5. A. Robertsson and R. Johansson. Nonlinear observers and output feedback control with application to dynamically positioned ships. Proc. 4th IFAC Nonlinear Control Systems Design Symposium (NOLCOS'98), pages 818-823, Enschede, Netherlands, July 1­-3 1998.
  6. A. Robertsson and R. Johansson. Observer backstepping and control design of linear systems. Proc. IEEE Conf. Decision and Control (CDC'98), pp. 4592-4593, Tampa, Florida, December 16­-18 1998.

 

1996

  1. K. Nilsson, R. Johansson, G. Bolmsjö, and G. Olsson. Experimental industrial robotics. Proc. IEEE Conf. Decision and Control (CDC'96), pages 3904-3909, Kobe, Japan, December 1996. Invited Paper.
  2. S. I. Sagatun and R. Johansson. Optimal and adaptive control of underwater vehicles. Advanced Robotics, 10(3):283-299, 1996. Invited Paper.
  3. L. Sobral, R. Johansson, G. Lindstedt, and G. Olsson. Ultrasonic detection in robotic environments. Proc. 1996 IEEE Conf. Robotics and Automation (ICRA'96), pp. 347-352, Minneapolis, MN, 1996.

 

1995

  1. R. Johansson. Supermartingale analysis of minimum variance adaptive control. Control—Theory and Advanced Technology (C-TAT), 10(4):993-1013, 1995.
  2. R. Johansson. z-Transform and Digital Systems. In R. C. Dorf, Editor, The Engineering Handbook, chapter 101, pp. 1096-1107. CRC Press, Boca Raton, FL, 1996.
  3. R. Johansson and G. Lindstedt. An algorithm for continuous­-time state space identification. Proc. 34th IEEE Conf. Decision and Control (CDC'95), pp. 721-726, New Orleans, LA, 1995.

 

1994

  1. R. Johansson and M. Spong. Quadratic optimization of impedance control. Proc. 1994 IEEE Int. Conf. Robotics and Automation (ICRA'94), pp. 616-621, San Diego, CA, May 8­-13 1994.
  2. S. I. Sagatun and R. Johansson. Optimal and adaptive control of underwater vehicles. In L. Sciavicco, C. Bonivento, and F. Nicoló, editors, Preprints of Fourth IFAC Symposium on Robot Control (SYROCO'94), pp. 953--958, Capri, Italy, Sept. 19­-21 1994.
  3. S. I. Sagatun and R. Johansson. Optimal and adaptive control of underwater vehicles. Modeling, Identification and Control, 15:245-252, 1994. See also Vol. 16, 1995, p. 2


1992

 

  1. R.  Johansson. Supermartingale analysis of mimimum variance adaptive control. Preprints 4th IFAC Symposium on Adaptive Systems in Control and Signal Processing, pages 521-526, Grenoble, July 1992.

 

1991

  1. R. Johansson. Binäre Steuerungstechnik -- Eine Einführung by K. H. Fasol. Automatica, 27:210-211, 1991. (Book review).
  2. R. Johansson. Optimal coordination and control of posture and locomotion. Mathematical Biosciences, 103:203-244, 1991.

 

1990

  1. R. Johansson. Adaptive control of robot manipulator motion. IEEE Transactions on Robotics and Automation, 6(4):483-490, 1990.
  2. R. Johansson. Quadratic optimization of motion coordination and control. IEEE Transactions on Automatic Control, 35(11):1197-1208, 1990.
  3. R. Johansson. Quadratic optimization of motion coordination and control. Proc. IEEE Int. Conf. Robotics and Automation (ICRA'90), pp. 1204-1209, Cincinatti, Ohio, 1990.
  4. R. Johansson. Quadratic optimization of motion coordination and control. Proc. American Control Conference (ACC '90), pp. 836-841, San Diego, California, May 23­-25 1990.
  5. R. Johansson. Real­-time identification of multilinear systems. In V. Utkin and U. Jaaksoo, editors, Preprints 11th IFAC World Congress (IFAC 1990), vol. 3, pp. 119-123, Tallinn, Estonia, USSR, August 13­-17, 1990.

 

1989

  1. R. Johansson. Global Lyapunov stability and exponential convergence of direct adaptive control. International Journal of Control, 50:859-869, 1989.
  2. R. Johansson. Lyapunov design for adaptive control of robots. In A. Isidori, editor, Preprints IFAC Nonlinear Control Systems Design Symposium (NOLCOS'89), pp. 209-214, Capri, Italy, June 14­-16 1989.
  3. R. Johansson and E. Zettergren. A smooth D/A converter for robotic applications. Proc. IEEE Int. Conference on Control and Applications (ICCON '89), vol. WA­-4­-4, pp. 1-2, Jerusalem, Israel, 1989.

 

1987

  1. R. Johansson. Parametric models of linear multivariable systems for adaptive control. IEEE Transactions on Automatic Control, AC­-32:303-313, 1987.

 

1985

  1. R. Johansson. Direct adaptive controlGlobal Lyapunov stability and exponential convergence. Technical report, Laboratoire d'Automatique de Grenoble, INPG, Grenoble, France, 1985.

 

1984

  1. R. Johansson. Lyapunov functions, cost functions, and adaptive control. In Proc. NSF­-STU Workshop on Adaptive Control, Lund, Sweden, 1984.

 

1983

  1. R. Johansson. Lyapunov functions for adaptive systems. In Proc. 22nd IEEE Conference on Decision and Control, pages 449-454, San Antonio, TX, 1983.
  2. R. Johansson. Multivariable Adaptive Control. PhD thesis, Dept. Automatic Control, Lund Inst. Technology, Lund University, May 1983. 207pp.

 

Archival Information

Doctorates Supervised

  1. Javier Gámez García, Sensor Fusion of Force, Acceleration and Position for Compliant Robot Motion Control, Departamento de Ingeniería Electrónica, de Telecomunicación y Automática, Universidad de Jaén, Jaén, Spain, February 17, 2006 (co-supervised with Prof. Juan Gómez Ortega, Universidad de Jaén).  
  2. Mahdi Ghazaei Ardakani, On Trajectory Generation for Robots, December 22, 2016, Ph. D. Thesis TFRT 1116, Dept. Automatic Control, Lund University.   
  3. Martin Karlsson, Human-Robot Interaction Based on Motion and Force Control, Ph. D. Thesis TFRT 1124, Dept. Automatic Control, Lund University, Apr 26, 2019.
  4. Magnus Linderoth, On Robotic Work-Space Sensing and Control, November 22, 2013, Ph. D. Thesis TFRT 1098, Dept. Automatic Control, Lund University.  
  5. Klas Nilsson, Industrial Robot Programming, Ph. D. Thesis, Dept. Automatic Control, Lund Inst. Technology, Lund University, May 29 1996. (co-supervised with Prof. K. J. Åström).  
  6. Björn Olofsson,Topics in Machining with Industrial Robot Manipulators and Optimal Motion Control, Ph. D. Thesis TFRT-1108-SE, Dept. Automatic Control, Lund University, Sweden, Sep 25, 2015.
  7. Tomas Olsson, High-Speed Vision and Force Feedback for Motion-Controlled Industrial Manipulators, May 4, 2007, Ph. D. Thesis TFRT-1078,  Dept. Automatic Control, Lund University.
  8. Anders Robertsson, On Observer-Based Control of Nonlinear Systems, December 16, 1999, Ph. D. Thesis TFRT 1056,  Robotics Lab, Dept. Automatic Control, Lund University.
  9. Olof Sörnmo, Adaptation and Learning for Manipulators and Machining, Ph. D. Thesis TFRT-1110-SE, Dept. Automatic Control, Lund University, Sweden, Nov 13, 2015.
  10. Andreas Stolt, On Robotic Assembly Using Contact Force Control and Estimation, Ph. D. Thesis TFRT-1109-SE, Dept. Automatic Control, Lund University, Sweden, September  2015.

 

Research Projects

 

Robotics Laboratory

  1. Lund Research Programme in Autonomous Robotics (Nutek-Mobile Autonomous Systems), 1993-1995, P927 [Budget kSEK2700].        
  2. Lund Research Programme in Autonomous Robotics (Nutek-Mobile Autonomous Systems), 1996-1997.        
  3. Lund Research Programme in Autonomous Robotics (Nutek-Mobile Autonomous Systems), 1998-1999, P9127-3 [Budget kSEK2700].         Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.        
  4.  Sensor-based Integration and Task-level Programming (Nutek-Complex Technological Systems), 1999-2002.       
    AutoFett—EC Fifth Framework Programme—EU Growth Programme (GRDI-2000-25135).        
  5. SSF ProViking FlexAA—Flexible and Accurate Automation, Swedish Foundation for Strategic Research, 2004-2006, Ref. V03.23 [MSEK6.000].        
  6. SSF ProViking ProFlexa—Productive Flexible Automation, Swedish Foundation for Strategic Research, 2009-2011, Ref. PV08-0036, [MSEK7].        
  7. INROSY—Intelligent Networked RObotics SYstems with reconfigurable exogenous system sensing. STINT-KOSEF Institutional Grant for cooperation with Hanyang University (Prof. Il Hong Suh), Seoul, Korea.        
  8. ROSETTA—Integrated project funded under the European Union’s Seventh Framework Programme (FP7), (Ref. FP7 ICT-230902 ROSETTA), [Budget M€10, EC Contribution M€7.5].           
  9. COMET—Plug-and-produce COmponents and METhods for adaptive control of industrial robots enabling cost effective, high precision manufacturing in factories of the future, Project funded under the European Union’s Seventh Framework Programme (FP7), NMP & ICT Factories of the Future, (Ref.  FP7-NMP-FoF 258769 COMET), 2010-2013; [Budget M€8, EC Contribution M€5.3].      
  10. PRACE—The Productive Robot Apprentice, Project funded under the European Union’s Seventh Framework Programme (FP7), (Ref.  NMP-ICT-FoF 285380 PRACE), 2011-2014, [Budget M€4.819, EC Contribution M€3.390].      
  11. SMErobotics—The European Robotics Initiative for Strengthening the Competitiveness of SMEs in Manufacturing by integrating aspects of cognitive systems, Project funded under the European Union’s Seventh Framework Programme (FP7), (Ref. ICT 287787 SMErobotics), 2012-2015. [Budget M€18.502, EC Contribution M€12.150].    
  12. FlexiFab—Flexible Fabrication of Lightweight Aluminium; Structures,  Project funded under the European Union’s Seventh Framework Programme (FP7),  (Ref. SME—FP7-SME-2014-2-606156-FLEXIFAB), 2014-2016,  [Budget M€2.11].
  13. SARAFun—Smart Assembly Robot with Advanced FUNctionalities. Project funded under the European Community’s Framework Programme Horizon 2020, Ref.  H2020-ICT-2014-1–644938–SARAFun, 2015-2018.



<address>Rolf Johansson</address> <address>2018-11-01</address>