Journal articles

2024

  • S. Shan, Q.-C. Pham. Fast payload calibration for sensorless contact estimation using model pre-training. IEEE Robotics and Automation Letters, vol. 10, pp. 9007-9014, 2024 [Preprint] [Video]
  • S. Shan, Q.-C. Pham. Fine robotics manipulation without Force/Torque sensor. IEEE Robotics and Automation Letters, vol. 9, pp. 1206-1213, 2024 [Preprint] [Video]

2023

  • V.-T. Do, Q.-C. Pham. Geometry-aware coverage path planning for depowdering on complex 3D surfaces. IEEE Robotics and Automation Letters, vol. 8, pp. 5552-5559, 2023 [Preprint] [Video]

2021

  • J. X. Y. Lim, Q.-C. Pham. Automated post-processing of 3D-printed parts: artificial powdering for deep classification and localization. Virtual and Physical Prototyping, vol. 16, pp. 333–346, 2021 [Online]
  • J.-H. Lim, X. Zhang, A. Ting, Q.-C. Pham. Stress-cognizant 3D printing of free-form concrete structures. Journal of Building Engineering, vol. 39, 2021 [Online]
  • J. X. Y. Lim, J. Leow, Q.-C. Pham, C. H. Tan. Development of a robotic system for automatic organic chemistry synthesis. IEEE Transactions on Automation Science and Engineering, vol. 18, pp. 2185–2190, 2021 [Preprint] [Video]

2020

  • H. Pham, Q.-C. Pham. Convex Controller Synthesis for robot contact. IEEE Robotics and Automation Letters, vol. 5(2), pp. 3330–3337, 2020 [Preprint] [Video] (licensed to Denso Wave Inc., featured on The Straits Times, Robotics 247, TechXplore, Automate.org, etc.)
  • J.-H. Lim, Y. Weng, Q.-C. Pham. 3D printing of curved concrete surfaces using Adaptable Membrane Formwork. Construction & Building Materials, vol. 232, 2020 [Online]

2019

  • X. Zhang, Q.-C. Pham. Planning coordinated motions for tethered planar mobile robots. Robotics and Autonomous Systems, vol. 118, pp. 189–203, 2019 [Preprint]
  • T. S. Lembono, F. Suárez-Ruiz, Q.-C. Pham. SCALAR: Simultaneous CAlibration of 2D LAser and Robot kinematic parameters using planarity and distance constraints. IEEE Transactions on Automation Science and Engineering, vol. 16(4), pp. 1971–1979, 2019 [Preprint]
  • A. Bin Anwar, I. H. Ibrahim, Q.-C. Pham. Spatter transport by inert gas flow in Selective Laser Melting: A simulation study. Powder Technology, vol. 352, pp. 103–116, 2019 [Online]

2018

  • H. Nguyen, Q.-C. Pham. On the covariance of X in AX = XB. IEEE Transactions on Robotics, vol. 34(6), pp. 1651–1657, 2018 [Preprint]
  • A. Singh, Q.-C. Pham. Reactive path coordination based on time-scaled collision cones. Journal of Guidance, Control, and Dynamics, vol. 41(9), pp. 2031–2038, 2018 [Preprint]
  • X. Zhang, M. Li, J.-H. Lim, Y. Weng, D. Tay, H. Pham, Q.-C. Pham. Large-scale 3D printing by a team of mobile robots. Automation in Construction, vol. 95, pp. 98–106, 2018 [Online] [Video] (featured on The RIBA Journal, IEEE Spectrum, Yahoo! UK, Digital Trends, TechXplore, 3D Printing Industry, etc.)
  • P. Lertkultanon, Q.-C. Pham. A certified-complete bimanual manipulation planner. IEEE Transactions on Automation Science and Engineering, vol. 15(3), pp. 1355–1368, 2018 [Preprint] [Video]
  • Q.-C. Pham, R. Madhavan, L. Righetti, W. Smart, and R. Chatila. The impact of robotics and automation on working conditions and employment. IEEE Robotics and Automation Magazine, vol. 25(2), pp. 126–128, 2018 [Preprint]
  • H. Pham, Q.-C. Pham. A new approach to Time-Optimal Path Parameterization based on Reachability Analysis. IEEE Transactions on Robotics, vol. 34(3), pp. 645–659, 2018 [Preprint]
  • J.-H. Lim, P. Narayan, Q.-C. Pham. Improving flexural characteristics of 3D printed geopolymer composites with in-process steel cable reinforcement. Construction & Building Materials, vol. 178, pp. 32–41, 2018 [Online]
  • A. Bin Anwar, Q.-C. Pham. Study of the spatter distribution on the powder bed during Selective Laser Melting. Additive Manufacturing, vol. 22, pp. 86–97, 2018 [Online]
  • F. Suárez-Ruiz, X. Zhou, Q.-C. Pham. Can robots assemble an IKEA chair? Science Robotics, vol. 3, eaat6385, 2018 [Preprint] [Online] [Video] (licensed to Eureka Robotics Pte. Ltd., featured on The Guardian, The New York Times, The Economist, ABC News, Science, Nature, Wired, MIT Technology Review, CNN, Reuters, etc.)
  • L. Righetti, Q.-C. Pham, R. Madhavan, R. Chatila. Lethal Autonomous Weapon Systems. IEEE Robotics and Automation Magazine, vol. 25(1), pp. 123–126, 2018 [Preprint]
  • H. Pham, Q.-C. Pham. Robotic manipulation of a rotating chain. IEEE Transactions on Robotics, vol. 34(1), pp. 139–150, 2018 [Preprint] [Video]

2017

  • X. Zhou, P. Lertkultanon, Q.-C. Pham. Closed-chain manipulation of large objects by multi-arm robotic systems. IEEE Robotics and Automation Letters, vol. 2(4), pp. 1832–1839, 2017 [Preprint] [Video]
  • C. Veras, Q.-C. Pham, G. Maus. The Silhouette Zoetrope: a new blend of motion, mirroring, depth, and size illusions. i-Perception, vol. 8(1), pp. 1–8, 2017 [Online (free)] [Video]
  • S. Caron, Q.-C. Pham, Y. Nakamura. ZMP support areas for multi-contact mobility under frictional constraints. IEEE Transactions on Robotics, vol. 33(1), pp. 67–80, 2017 [Preprint]
  • Q.-C. Pham, S. Caron, P. Lertkultanon, Y. Nakamura. Admissible Velocity Propagation: beyond quasi-static path planning for high-dimensional robots. International Journal of Robotics Research, vol. 36(1), pp. 44–67, 2017 [Preprint] [Video]
  • S. Caron, Q.-C. Pham, Y. Nakamura. Completeness of randomized kinodynamic planners with state-based steering. Robotics and Autonomous Systems, vol. 89, pp. 85–94, 2017 [Preprint]
  • A. Bin Anwar, Q.-C. Pham. Selective Laser Melting of AlSi10Mg: Effects of scan direction, part placement and inert gas flow velocity on tensile strength. Journal of Materials Processing Technology, vol. 240, pp. 388–396, 2017 [Online]

2016

  • P. Lertkultanon, Q.-C. Pham. Time-optimal parabolic interpolation with velocity, acceleration, and minimum-switch-time constraints. Advanced Robotics, vol. 30(17), pp. 1095–1110, 2016 [Preprint]
  • X. Yan, C.-C. Cheah, Q.-M. Ta, Q.-C. Pham. Stochastic dynamic trapping in robotic manipulation of micro-objects using optical tweezers. IEEE Transactions on Robotics, vol. 32(3), pp. 499–512, 2016 [Preprint]
  • H. Nguyen, Q.-C. Pham. Time-optimal path parameterization of rigid-body motions: applications to spacecraft reorientation. Journal of Guidance, Control, and Dynamics, vol. 39(7), pp. 1665–1669, 2016 [Preprint] [Video]
  • P. Lertkultanon, Q.-C. Pham. A single-query manipulation planner. IEEE Robotics and Automation Letters, vol. 1(1), pp. 198–205, 2016 [Preprint] [Video]
  • H. Hicheur, C. Boujon, C. Wong, Q.-C. Pham, J.-M. Annoni, T. Bihl. Planning of spatially-oriented locomotion after focal brain damage in humans: a pilot study. Behavioural Brain Research, vol. 301, pp. 33–42, 2016 [Preprint]

2015

  • Q.-C. Pham, O. Stasse. Time-optimal path parameterization for redundantly-actuated robots: a numerical integration approach. IEEE/ASME Transactions on Mechatronics, vol. 20(6), pp. 3257–3263, 2015 [Preprint] [Video]
  • Q.-C. Pham, Y. Nakamura. A new trajectory deformation algorithm based on affine transformations. IEEE Transactions on Robotics, vol. 31(4), pp. 1054–1063, 2015 [Preprint]

2014

  • Q.-C. Pham, M. Duarte, et al. Robust evaluation of time-since-awakening using force platform posturography. Revista Brasileira de Engenharia Biomédica, vol. 30(4), pp. 1–9, 2014 [Online (free)]
  • Q.-C. Pham. A general, fast, and robust implementation of the time-optimal path parameterization algorithm. IEEE Transactions on Robotics, vol. 30(6), pp. 1533–1540, 2014 [Preprint]

2011

  • Q.-C. Pham, A. Berthoz, H. Hicheur. Invariance of locomotor trajectories across visual and gait direction conditions. Experimental Brain Research, vol. 210(2), pp. 207–215, 2011 [Preprint]

2010

  • N. Tabareau, J.-J. Slotine, Q.-C. Pham. How synchronization protects from noise. PLoS Computational Biology, vol. 6(1), e1000637, 2010 [Online (free)]

2009

  • Q.-C. Pham, N. Tabareau, J.-J. Slotine. A contraction theory approach to stochastic incremental stability. IEEE Transactions on Automatic Control, vol. 54(4), pp. 816–820, 2009 [Preprint]
  • Q.-C. Pham, H. Hicheur. On the open-loop and feedback processes that underlie the formation of trajectories during visual and nonvisual locomotion in humans. Journal of Neurophysiology, vol. 102(5), pp. 2800–2815, 2009 [Preprint]

2008

  • B. Girard, N. Tabareau, Q.-C. Pham, A. Berthoz, J.-J. Slotine. Where neuroscience and dynamic system theory meet autonomous robotics: a contracting basal ganglia model for action selection. Neural Networks, vol. 21(4), pp. 628–641, 2008 [Online]

2007

  • Q.-C. Pham, H. Hicheur, G. Arechavaleta, J.-P. Laumond, A. Berthoz. The formation of trajectories during goal-oriented locomotion in humans. II. A maximum smoothness model. European Journal of Neuroscience, vol. 26(8), pp. 2391–2403, 2007 [Preprint]
  • H. Hicheur, Q.-C. Pham, G. Arechavaleta, J.-P. Laumond, A. Berthoz. The formation of trajectories during goal-oriented locomotion in humans. I. A stereotyped behavior. European Journal of Neuroscience, vol. 26(8), pp. 2376–2390, 2007 [Preprint]
  • Q.-C. Pham, J.-J. Slotine. Stable concurrent synchronization in dynamic system networks. Neural Networks, vol. 20(1), pp. 62–77, 2007 (top 10 most cited articles in Neural Networks 2007–2012) [Preprint]


Theses

2024

  • S. Fujii. GPU-accelerated real-time motion planning for safe human-robot collaboration. PhD Thesis, Nanyang Technological University, Singapore, 2024 [Preprint]
  • J. X. Y. Lim. Robotic part manipulation for 3D-print post-processing. PhD Thesis, Nanyang Technological University, Singapore, 2024 [Preprint]
  • N. Vuong. Reinforcement Learning for robot assembly. PhD Thesis, Nanyang Technological University, Singapore, 2024 [Preprint]

2021

  • J.-H. Lim. Investigation of novel 3D Printing methods for freeform construction. PhD Thesis, Nanyang Technological University, Singapore, 2021 [Preprint]
  • X. Zhang. Large-scale 3D Printing with multiple mobile robots for Building and Construction. PhD Thesis, Nanyang Technological University, Singapore, 2021 [Preprint]

2019

  • H. Pham. Time-optimal motion planning and control. PhD Thesis, Nanyang Technological University, Singapore, 2019 [Preprint]
  • H. Nguyen. Contributions to robotic manipulation under uncertainty: calibration, estimation, motion planning. PhD Thesis, Nanyang Technological University, Singapore, 2019 [Preprint]
  • A. Bin Anwar. Large-scale Selective Laser Melting: study of the effects and removal of spatter by the inert gas flow during SLM. PhD Thesis, Nanyang Technological University, Singapore, 2019 [Preprint]

2017

  • P. Lertkultanon. Planning algorithms for complex manipulation tasks. PhD Thesis, Nanyang Technological University, Singapore, 2017 [Preprint]

2009

  • Q.-C. Pham. A study of human locomotor trajectories. PhD Thesis, Université Pierre et Marie Curie, France, 2009 [Preprint]


Book chapter

2015

  • Q.-C. Pham. Trajectory planning. In Andrew Nee (Ed.), Handbook of Manufacturing Engineering and Technology, pp 1873–1887, Springer London, 2015 [Online] [Preprint]


Patents

2022

  • V.-T. Do, Q.-C. Pham, N. Adrian. Powder removal coverages. PCT App. PCT/US2022/046443
  • J. X. Y. Lim, Q.-C. Pham. Robotic gripper geometries. PCT App. PCT/US2022/024366

2021

  • J. X. Y. Lim, Q.-C. Pham. Simulated powdered model generation for neural networks. PCT App. PCT/US2021/020691

2020

  • J. Salfity, W. Allen, H. Nguyen, N. Adrian , J. X. Y. Lim, Q.-C. Pham. 3D-printed object cleaning. US Patent App. 17/904,331. PCT App. PCT/US2020/020044
  • W. Allen, Q.-C. Pham, H. Nguyen, S. Chaffins. First object for assembly with a second object and method of assembly thereof. US Patent App. 17/086,933 [Link]

2019

  • W. Allen, Q.-C. Pham, H. Nguyen, S. Chaffins. Guided assembly by way of 3D-printed electronic features. US Patent App. 62/929,367