Publications

Book

J. M. McCarthy and G. S. Soh, “Geometric Design of Linkages, Second Edition”, Interdisciplinary Applied Mathematics 11, Springer, New York, 2010. (ISBN 978-1-4419-7892-9)

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Book Chapters

  1. G. S. Soh and J. M. McCarthy, “Constrained Synthesis for planar N-R Robots”, Advances in Robot Kinematics: Mechanisms and Motion, pp. 395-402, Springer, 2006. (ISBN-13: 978-1-4020-4940-8)
  2. G. S. Soh and J. M. McCarthy, “Synthesis and Analysis of a Constrained Spherical Parallel Manipulator”, Advances in Robot Kinematics: Analysis and Design, pp. 101-110, Springer, 2008. (ISBN-13: 978-1-4020-8599-4)
  3. N. Robson and G. S. Soh, “Kinematic Synthesis of Planar Multi-Limb Mechanisms for Multi-Directional Interaction with Bodies in the Environment”, Advances in Robot Kinematics, Springer, 2018.

Journal Articles

  1. G. S. Soh and J. M. McCarthy, “The Synthesis of Six-Bar Linkages as Constrained Planar 3R Chains”, Mechanism and Machine Theory, 43(2):160-170, 2008.
  2. G. S. Soh and J. M. McCarthy, “Parametric Design of a Spherical Eight-Bar Linkage based on a Spherical Parallel Manipulator”, ASME Journal of Mechanism and Robotics, 1(1):011004, 2008.
  3. G. S. Soh and F. T. Ying, “Motion Generation of Planar Six and Eight-Bar Slider Mechanisms as Constrained Robotic Systems”, ASME Journal of Mechanism and Robotics, 7(3):031018, 2015.
  4. N. Robson and G. S. Soh, “Geometric Design of Eight-Bar Wearable Devices based on limb Physiological Contact Task”, Mechanism and Machine Theory, 100:358-367, 2016.
  5. H. H. Hariri, G. S. Soh, S. H. Foong, and K. L. Wood, “Locomotion Study of a Standing Wave Driven Piezoelectric Miniature Robot for Bi-directional Motion”, IEEE Transactions on Robotics, 33(3):742-747, 2017.
  6. G. R. Tan, N. Robson and G. S. Soh, “Motion Generation of Passive Slider Multi-Loop Wearable Hand Devices”, ASME Journal of Mechanism and Robotics, 9(4):041011, 2017.
  7. F. Wu, A. Vibhute, G. S. Soh, K. L. Wood and S. H. Foong, “A Compact Magnetic Field-Based Obstacle Detection and Avoidance System for Miniature Spherical Robots”, IEEE Sensors, 17(6):1231, 2017.
  8. A. G. Dharmawan, B. W. C. Sedore, S. H. Foong and G. S. Soh, “An Agile Robotic System Mounted on Scaffold Structures for On-Site Construction Work”, Construction Robotics, 1:1-13, 2017.
  9. X. Chen, A. G. Dharmawan, S. H. Foong and G. S. Soh, “Seam Tracking of Large Pipe Structures for an Agile Robotic Welding System Mounted on Scaffold Structures”, Robotics and Computer-Integrated Manufacturing,50:242-245, 2018.
  10. A. G. Dharmawan, H. H. Hariri, G. S. Soh, S. H. Foong, and K. L. Wood, “Design, Analysis and Characterization of a Two Legged Miniature Robot with Piezoelectric-Driven Four-Bar Linkage”, ASME Journal of Mechanism and Robotics, 10(2):021003, 2018.
  11. H. K. Raut, H. H. Hariri, H. Parveen, G. S. Soh, A. Baji, H. Y. Low, K. L. Wood, “Gecko-Inspired Dry Adhesive Based on Micro-Nanoscale Hierarchical Arrays for Application in Climbing Devices”, ACS Applied Materials & Interfaces, 10(1):1288-1296, 2018.
  12. A. G. Dharmawan, S. H. Foong and G. S. Soh, “Task Constrained Optimal Motion Planning of Redundant Robots via Expanded Lagrangian Homotopy”, ASME Journal of Mechanism and Robotics, 10(3):031010, 2018.
  13. A. R. Chowdhury, G. S. Soh, S. H. Foong and K. L. Wood, “Implementation of CPG based Roll Gait and Nonlinear Control Strategy in a Spherical Robot”, Journal of Bionic Engineering, 15(2): 313-328, 2018.
  14. A. R. Chowdhury, G. S. Soh, S. H. Foong and K. L. Wood, “Experiments in Robust Path Following Control of a Rolling and Spinning Robot on Outdoor Surfaces”, Robotics and Autonomous Systems, 106:140-151, 2018.
  15. S. Dritsas and G. S. Soh, “Building Robotics Design for Construction Design considerations and principles for mobile systems”, Construction Robotics (Accepted).

Referred Conference Papers

  1. G. S. Soh, A. Perez, and J. M. McCarthy, “The Kinematic Synthesis of Mechanically Constrained Planar 3R Chains”, Proceedings of the first European Conference on Mechanism Science(EUCOMES), Obergurgl, Austria, 2006.
  2. G. S. Soh and J. M. McCarthy, “Synthesis of Mechanically Constrained Planar 2-RRR Planar Parallel Robots”, Proceedings of the 12th IFToMM World Congress, Besancon, France, 2007.
  3. G. S. Soh and J. M. McCarthy, “Synthesis of Constrained nR Planar Robots to Reach Five Task Positions”, Proceedings of Robotics: Science and System, Altanta, USA, 2007.
  4. G. S. Soh and J. M. McCarthy, “Assessment Criteria for Conceptual Design of Six Bar Linkages”, Proceedings of the ASME International Design Engineering Technical Conference, Las Vegas, USA, 2007.
  5. G. S. Soh and J. M. McCarthy, “Five Position Synthesis of Spherical (6,7) Linkages”,Proceedings of the ASME International Design Engineering Technical Conference, New York, USA, 2008.
  6. G. S. Soh and J. M. McCarthy, “Seven Position Synthesis of a Spatial Eight-Bar Linkage by Constraining a TRS Serial Chain”, Proceedings of the ASME International Design Engineering Technical Conference, San Deigo, USA, 2009.
  7. J. Choe, D. L. Li, G. S. Soh, J. M. McCarthy, “Synthesis of a 10-Bar Driver for Planar Scale Change Linkages”, Proceedings of the ASME/IFToMM International Conference onReconfigurable Mechanisms and Robots, London, UK, 2009.
  8. G. S. Soh, T. Ying and J. M. McCarthy, “Dimensional Synthesis of Planar Six-Bar Linkages by Mechanically Constrain a PRR Serial Chain”, Proceedings of the ASME International Design Engineering Technical Conference, Chicago, USA, 2012.
  9. E. Wilhelm, R. Bornatico, R. Widmer, L. Rodgers, G. S. Soh, “Electric Vehicle Parameter Identification”, Proceedings of the EVS26 Conference, Los Angeles, USA, 2012.
  10. E. Wilhelm, L. Rodgers, R. Bornatico, G. S. Soh, “Real-time Identification of Electric Vehicle Physical Parameters”, Proceedings of the SAE Asia APAC 17 Conference, Bangkok, Thailand, 2013.
  11. G. S. Soh and N. Robson, “Kinematic Synthesis of Minimally Actuated Multi-loop Planar Linkages with Second Order Motion Constraints for Object Grasping”, Proceedings of the ASME Dynamic Systems and Control Conference, Stanford, USA, 2013. (Invited Paper)
  12. G. S. Soh and F. T. Ying, “Dimensional Synthesis of Planar Eight-bar Linkages based on a Parallel Robot with a Prismatic Joint”, Proceedings of the ASME International Design Engineering Technical Conference, Portland, USA, 2013.
  13. N. Robson, S. Ghosh and G. S. Soh, “Development of a Sensor-Based Glove Device for Extracting Human Finger Motion Data used in the Design of Minimally Actuated Mechanical Fingers”, Proceedings of the 3rdIFToMM International Symposium on Robotics and Mechatronics, Singapore, 2013.
  14. M. Jeunnette and G. S. Soh, “Design and Implementation of a Test Rig for Disruption of Unexploded Ordance”, IEEE Global Humanitarian Technology Conference, Silicon Valley, USA, 2013.
  15. Robson, J. Allington and G. S. Soh, “Development of Underactuated Mechanical Fingers Based on Anthropometric Data and Anthropomorphic Tasks”, Proceedings of the ASME International Design Engineering Technical Conference, Buffalo, USA, 2014.
  16. G. S. Soh, “Rigid Body Guidance of Human Gait as Constrained TRS Serial Chain”, Proceedings of the ASME International Design Engineering Technical Conference, Buffalo, USA, 2014.
  17. X. Hu and G. S. Soh, “A Study on Estimation of Planar Gait Kinematics using Minimal Inertial Measurement Units and Inverse Kinematics”, Proceedings of the IEEE Engineering in Medicine and Biology Society Conference, Chicago, USA, 2014.
  18. A. G. Dharmawan, A. A. Vibhute, G. S. Soh, S. H. Foong, and K. Otto, “A Survey of Platform Designs for Portable Robotic Welding in Large Scale Structures”, Proceedings of the IEEE 13th International Conference on Control, Automation, Robotics and Vision, Singapore, 2014.
  19. X. Niu, A. P. Suherlan, G. S. Soh, S. H. Foong, K. Wood and K. Otto, “Mechanical Development and Control of a Miniature Nonholonomic Spherical Rolling Robot”, Proceedings of the IEEE 13th International Conference on Control, Automation, Robotics and Vision, Singapore, 2014.
  20. E. Wilhelm, A. Gupta, S. Modurpalayam, S. Wang, B. Walton, A. Wootton, T. Jeruzalski, A. Andrade, G. S. Soh, “AutoBikes: Autonomous Electric Bicycles for Frist and Last-mile Mobility on Demand”, Proceedings of the 28thInternational Electric Vehicle Symposium, Goyang, Korea, 2015.
  21. X. Chen, G. S. Soh, *S. H. Foong and K. Otto, “Pose estimation of robotic end– effectors under low speed motion using EKF with inertial and SE(3measurements”, IEEE International Conference on Advanced Intelligent Mechatronics, Busan, 2015.
  22. K. Fu, U. X. Tan, T. H. Teo, G. S. Soh and K. Wood, “Interdisciplinary Learning Through Design Activities Uniting Fundamentals of Engineering Curriculum”, Proceedings of the 20th International Conference on Engineering Design, Milan, Italy, 2015.
  23. A. G. Dharmawan, B. W. C. Sedore, G. S. Soh, S. H. Foong and K. Otto, “Robot Base Placement and Kinematic Evaluation of 6R Serial Manipulators to Achieve Collision-Free Welding of Large Intersecting Cylindrical Pipes”, Proceedings of the ASME International Design Engineering Technical Conference, Boston, USA, 2015.
  24. A. A. Vibhute, A. P. Suherlan, G. S. Soh, S. H. Foong, K. Wood and K. Otto, “Localization and Trajectory Tracking of an Autonomous Spherical Rolling Robot using IMU and Odometry”, Proceedings of the ASME International Design Engineering Technical Conference, Boston, USA, 2015.
  25. X. Hu, C. Yao and G. S. Soh, “Performance Evaluation of Lower Limb Ambulatory Measurement Using Reduced Inertial Measurement Units and 3R Gait Model”, Proceedings of the IEEE International Conference on Rehabilitation Robotics, Singapore, 2015.
  26. B. W. C. Sedore, A. G. Dharmawan, G. S. Soh, S. H. Foong and K. Otto, “Pose Accuracy of a Mobile Robotic System Mounted on Scaffold Structures”, Proceedings of the 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 2015.
  27. H. H. Hariri, G. S. Soh, S. H. Foong, K. L. Wood and K. Otto, “Miniature Piezoelectric Mobile Robot driven by Standing Wave”, Proceedings of the 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 2015.
  28. H. H. Hariri, A. P. Suherlan, G. S. Soh, S. H. Foong, K. Otto and K. L. Wood, “A Tether-less Legged Piezoelectric Miniature Robot Using Bounding Gait Locomotion for Bidirectional Motion”, International Conference on Robotics and Automation, Stockholm, Sweden, 2016.
  29. F. Wu, L. Marechal, A. Vibhute, S. H. Foong, G. S. Soh, and K. L. Wood, “A Compact Magnetic Directional Proximity Sensor for Spherical Robots”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Banff, Canada, 2016.
  30. G. R. Tan, N. Robson and G. S. Soh, “Dimensional Synthesis of a Passive Eight-Bar Slider Exo-Limb for Grasping Tasks”, Proceedings of the ASME International Design Engineering Technical Conference, North Carolina, USA, 2016.
  31. A. G. Dharmawan, S. H. Foong and G. S. Soh, “Simultaneous Optimal Robot Base Placement And Motion Planning Using Expanded Lagrangian Homotopy”, Proceedings of the ASME Dynamic Systems and Control Conference, Minneapolis, USA, 2016.
  32. Y. Hu, A. A. Vibhute, S. H. Foong and G. S. Soh, “Autonomous Docking of Miniature Spherical Robots with an External 2D Laser Rangefinder”, IEEE TENCON, Singapore, 2016.
  33. P. S. Meena, S. H. Foong, G. S. Soh and K. S. Yeo, “Automatic Optical & Laser-based Defect Detection and Classification in Brick Masonry Walls”, IEEE TENCON, Singapore, 2016.
  34. A. G. Dharmawan, H. H. Hariri, S. H. Foong, G. S. Soh, and K. L. Wood, “Steerable Miniature Legged Robot Driven by a Single Piezoelectric Bending Unimorph Actuator”, IEEE International Conference on Robotics and Automation, Singapore, 2017.
  35. A. R. Chowdhury, A. Vibhute, G. S. Soh, S. H. Foong, and K. Wood, “Implementing Caterpillar Inspired Roll Control of a Spherical Robot”, IEEEInternational Conference on Robotics and Automation, Singapore, 2017.
  36. E. Low, L. S. T. Win, C. H. Tan, D. S. B. Shaiful, G. S. Soh, and S. H. Foong, “Design and Dynamic Analysis of a Transformable HOvering Rotorcraft (THOR)”, IEEEInternational Conference on Robotics and Automation, Singapore, 2017.
  37. S. Satria, S. Foong, G. S. Soh and K. L. Wood, “Robust Variable Phase Command Shaper for Vibration Suppression in Motion Control of Spherical Rolling Robots”, IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, 2017.
  38. K. H. Win, C. H. Tan, D. Sufiyan, J. E. Low, G. S. Soh and S. H. Foong, “The Effects of Chordwise Wing Optimization of Single-Winged Samara in Autorotation”, IEEE International Conference on Advanced Intelligent Mechatronics, Munich, Germany, 2017.
  39. A. R. Chowdhury, G. S. Soh, S. H. Foong and K. L. Wood, “Experiments in Second Order Sliding Mode Control of a CPG based Spherical Robot”, 20th IFAC World Congress, 2017.
  40. A. G. Dharmawan, H. H. Hariri, G. S. Soh, S. H. Foong, and K. L. Wood, “Design and Gait Analysis of A Two Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage”,Proceedings of the ASME International Design Engineering Technical Conference, Cleveland, USA, 2017.
  41. D. Nguyen, G. S. Soh, S. H. Foong and K. L. Wood, “De-coupled Dynamics Control of a Spherical Rolling Robot for Waypoint Navigation”, IEEE International Conference on Cybernetics and Intelligent Systems – Robotics, Automation and Mechatronics, Ningbo, China, 2017.
  42. H. Tan, J. T. H. Goh, W. J. Ang, J. L. Lee, E. S. Lin, G. S. Soh and S. H. Foong, “Design and Development of Micro-Aerial Vehicle for Tree Inspections”, IEEE International Conference on Cybernetics and Intelligent Systems – Robotics, Automation and Mechatronics, Ningbo, China, 2017.
  43. A. R. Chowdhury, G. S. Soh, S. H. Foong, and K. L. Wood, “Evaluating Robust Trajectory Control of a Miniature Rolling and Spinning Robot in Outdoor Conditions”, IEEE International Conference on Robotics and Automation, Brisbane, Australia, 2018.
  44. K. H. Win, T. H. Goh, J. E. Low, D. Sufiyan, L. S. T. Win, G. S. Soh, and S. H. Foong, “Direction Controlled Descent of Samara Autorotating Wings (SAW) with n-Wings”, IEEE International Conference on Robotics and Automation, Brisbane, Australia 2018.
  45. D. Sufiyan, L. S. T. Win, J. E. Low, S. K. H. Win, G. S. Soh, S. H. Foong, “Optimized Transition Path of a Transformable HOvering Rotorcraft (THOR), IEEE International Conference on Advanced Intelligent Mechatronics, Auckland, New Zealand, 2018.
  46. J. E. Low, L. S. T. Win, J. L. Lee, G. S. Soh, S. H. Foong, “Towards a Stable Three-Mode Transformable HOvering Rotorcraft (THOR), IEEE International Conference on Advanced Intelligent Mechatronics,Auckland, New Zealand, 2018.
  47. A. G. Dharmawan, P. Xavier, D. Anderson, K. B. Perez, H. H. Hariri, G. S. Soh, A. Baji, R. Bouffanais, S. H. Foong, H. Y. Low, K. L. Wood, “A Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives: Design, Modeling, And Experimentation”, ASME International Design Engineering Technical Conference, Quebec, USA, 2018. (Best Paper Award)
  48. V. D. Nguyen, G. S. Soh, S. H. Foong, K. L. Wood, “Localization of A Miniature Spherical Rolling Robot using IMU, ODOMETRY AND UWB”, Proceedings of the ASME International Design Engineering Technical Conference, Quebec, USA, 2018.
  49. A. G. Dharmawan, S. Padmanathan, Y. Xiong, I. F. Ituarte, S. F. Foong and G. S. Soh, “Maximizing Robot Manipulator’s Functional Redundancy via Sequential Informed Optimization”, IEEE International Conference on Advanced Robotics and Mechatronics, Singapore, 2018.
  50. J. Sundram, V. D. Nguyen, G. S. Soh, R. Bouffanais and K. L. Wood, “Development of a Minimal System Architecture of Multi-Agent Occupancy Grid Mapping”, IEEE International Conference on Advanced Robotics and Mechatronics, Singapore, 2018.