Publications

Book

J. M. McCarthy and G. S. Soh, “Geometric Design of Linkages, Second Edition”,
Interdisciplinary Applied Mathematics 11, Springer, New York, 2010.
54412_478069928465_1593270_o

Journal and Conference Papers

  1. S. K. H. Win, C. H. Tan, D. Sufiyan, J. E. Low, G. S. Soh, 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. (accepted)
  2. S. Satria, S. Foong, G. S. Soh, 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. (accepted)
  3. 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”, ASME International Design Engineering Technical Conference, Cleveland, USA, 2017. (accepted)
  4. A. R. Chowdhury, G. S. Soh, S. H. Foong, K. L. Wood, “Experiments in Second Order Sliding Mode Control of a CPG based Spherical Robot”, 20th IFAC World Congress, 2017. (accepted)
  5. 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)”, IEEE International Conference on Robotics and Automation, Singapore, 2017. (accepted)
  6. A. R. Chowdhury, A. Vibhute, G. S. Soh, S. H. Foong, and K. Wood, “Implementing Caterpillar Inspired Roll Control of a Spherical Robot”, IEEE International Conference on Robotics and Automation, Singapore, 2017. (accepted)
  7. 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. (accepted)
  8. G. R. Tan, N. Robson and G. S. Soh, “Motion Generation of Passive Slider Multi-Loop Wearable Hand Devices”, Journal of Mechanism and Robotics, 2017. (accepted)
  9. 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, 99:1-6, 2017.
  10. 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.
  11. Y. Hu, 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.
  12. 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.
  13. 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.
  14. 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.
  15. 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.
  16. 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.
  17. 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.
  18. 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.
  19. 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.
  20. 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.
  21. 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.
  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. 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.
  24. 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.
  25. 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.
  26. 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.
  27. 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.
  28. N. 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.
  29. 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.
  30. 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.
  31. N. P. 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 3rd IFToMM International Symposium on Robotics and Mechatronics, Singapore, 2013.
  32. G. S. Soh and F. T. Ying, “Dimensional Synthesis of Planar Eight-bar based on a Parallel Manipulator with a Prismatic Joint”, Proceedings of the ASME International Design Engineering Technical Conference, Portland, USA, 2013. (doi: 10.1115/DETC2013-12799)
  33. 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.
  34. E. Wilhelm, R. Bornatico, R. Widmer, L. Rodgers, G. S. Soh, “Electric Vehicle Parameter Identification”, Proceedings of the EVS26 Conference, Los Angeles, USA, 2012.
  35. G. S. Soh F. 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.
  36. 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 on Reconfigurable Mechanisms and Robots, London, UK, 2009.
  37. 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.
  38. 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.
  39. G. S. Soh and J. M. McCarthy, “Five Position Synthesis of Spherical Six-Bar Linkages”, Proceedings of the ASME International Design Engineering Technical Conference, New York, USA, 2008.
  40. G. S. Soh and J. M. McCarthy, “Synthesis and Analysis of a Constrained Spherical Parallel Manipulator”, Advances in Robot Kinematics, Batz-sur-Mer, France, 2008.
  41. G. S. Soh and J. M. McCarthy, “The Synthesis of Six-Bar Linkages as Constrained Planar 3R Chains”, Mechanism Machine Theory, 43(2):160-170, 2008.
  42. 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.
  43. 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.
  44. 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.
  45. G. S. Soh and J. M. McCarthy, “Synthesis of Mechanically Constrained Planar N-R Serial Chain Robots”, Advances in Robot Kinematics, Ljublijana, Slovenia, 2006.
  46. G. S. Soh, A. Perez, and J. M. McCarthy, “The Kinematic Synthesis of Mechancially Constrained Planar 3R Chains”, Proceedings of the first European Conference on Mechanism Science (EUCOMES), Obergurgl, Austria, 2006.