Sebastian Nugroho

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The ability of NAO robot to play tic-tac-toe board game using its hands is greatly determined by the kinematics model of NAO's arms and the use of trajectory planning for manipulation tasks. In this paper, kinematics models for NAO's upper body are presented. The forward kinematics models are designed by using the modified Denavit-Hartenberg convention. The(More)
We propose methods to solve time-varying, sensor and actuator (SaA) selection problems for uncertain cyberphysical systems. We show that many SaA selection problems for optimizing a variety of control and estimation metrics can be posed as semidefinite optimization problems with mixed-integer bilinear matrix inequalities (MIBMIs). Although this class of(More)
In cyber-physical systems (CPS), the problem of controlling resources can be depicted as an actuator selection problem. Given a large library of actuators and a control objective, what is the least number of actuators to be selected, and what is the corresponding optimal control law? These dynamic design questions are inherently coupled. In this paper, we(More)
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