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Pham Quang Cuong


Pham Quang Cuong
Assistant Professor
Tel: 6790 5597
Email: cuong@ntu.edu.sg
Office: N3-02c-90 
Homepage: http://www.ntu.edu.sg/home/cuong
   
Education
  • PhD Universite Paris VI 2009
  • MS Ecole Normale Superieure rue d'Ulm 2006

Biography
Cuong was born in Hanoi, Vietnam and grew up in Vietnam and then in France. He graduated from École Normale Supérieure rue d'Ulm, France, in 2007. He obtained a PhD in Neuroscience from Université Paris VI and Collège de France in 2009. In 2010, he was a Visiting Researcher at the University of São Paulo, Brazil. From 2011 to 2013, he was as a Fellow of the Japan Society for the Promotion of Science (JSPS), doing research in Robotics at the University of Tokyo. He joined NTU as an Assistant Professor in 2013. He was the recipient of the Best Paper Award at the conference Robotics: Science and Systems, 2012. His team won the second prize at the Airbus Shopfloor Challenge at ICRA 2016.

Research
  • Interest:
    Motion planning and control for robots, Robotic manipulation, Industrial robotics, Humanoid robotics and Locomotion and motor control in humans
  • Projects:
    Intelligent perception and dexterous manipulation for fine robotic assembly
    Fine assembly tasks (e.g. in the electronics, shoes, food industries, etc.) are still out of the reach of today’s industrial robots. The main challenges lie in the unstructured environments, the soft/fragile materials of the parts to be assembled and the difficulty in controlling contact interactions. This project aims to tackle these challenges in order to make robots capable of handling those fine assembly tasks in industrial contexts.
    [Robotics Research Centre, Robotics & Automation]
    Factory automation with contacts in unstructured environments
    • The objective of this project is to bridge the gap between our robotics research and commercialization. For that, we shall:
      improve   the   reliability, sensitivity, and speed of contact control based on COTS components;
    • integrate our software architecture with the most common industrial robots;
    • develop one proof­-of­-concept robotic solution in collaboration with a potential customer.
    [Robotics Research Centre, Robotics & Automation]
    Robotics 3D printing for building and construction
    This is a collaborative research project (2 PIs in materials, 2 PIs in robotics, industrial partners from Sembcorp), with the ultimate aim of automatically constructing large structures using 3D printing and robotics technologies. Our group is in charge of developing a platform that consists of multiple mobile robots to deliver the printing materials. This involves substantial challenges in mobile robot perception and control.
    [Singapore Centre for 3D Printing, Robotics & Automation]
    Optimization of air traffic flow by robotics motion planning theory
    Air traffic is expected to keep rapidly growing in the next years both globally and in the Asia-Pacific region. Avoiding traffic congestion and reducing fuel consumption are thus some of the top priorities of Air Traffic Management. The aim of this project is to help tackle these problems by optimizing the 3D trajectories and coordination of aircrafts using robot motion planning theory.
    [ATMRI, Aerospace]

Research Staff and Students under supervision

Research Staff
Name Title Email
Suarez Ruiz Francisco Alejandro Research Fellow ASRFRANCISCO@ntu.edu.sg
Zhou Xian Project Officer ZHOUXIAN@ntu.edu.sg

PhD Students
Name Project
Puttichai Lertkultanon Critically Dynamic Mobile Manipulation : A Theoretical and Experimental Study
Ahmad Bin Anwar Large scale metal-based additive manufacturing
Nguyen Dinh Huy Intelligent perception for fine robotics manipulation
Lim Jian Hui Planning and control for additive construction robotics
Pham Tien Hung Motion planning for ATMRI
Zhang Xu Development of a Robotic framework for additive manufacturing for building and construction

Selected Publications
  • 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, 2016
  • S. Caron, Q.-C. Pham, Y. Nakamura. ZMP support areas for multi-contact mobility under frictional constraints. IEEE Transactions on Robotics, 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
  • 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
  • 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
  • P. Lertkultanon, Q.-C. Pham. A single-query manipulation planner. IEEE Robotics and Automation Letters, vol. 1(1), pp. 198-205, 2016
  • 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
  • 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
  • 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
  • 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

Teaching
  • Control Theory
  • Introduction To Electrical Circuits & Electronic Devices
  • Advanced Microprocessor Applications
  • Real Time Control & AI Prog of robot beetle