| June 2000-Aug. 2000 | Dynamic modeling for mobile manipulators
Acceleration based force control of mobile manipulator Communication of haptic information Formation control multiple mobile robot |
| Sep. 2000-Nov 2000 | Redundancy resolution of mobile manipulators
Hybrid force/position control of mobile manipulators, with an application to push a nonholonomic cart Internet based Human/Mobile manipulator interaction programming |
| Dec. 2000-Feb. 2001 | Passive control of nonholonomic vehicle.
Multiple sensor based control of mobile manipulator Human/mobile manipulator interaction for on-line action programming Cooperative manipulation of multiple mobile manipulator |
| March 2001-May 2001 | Formation control of heterogeneous mobile manipulator
Issues in servo control for system integration Human/robot interaction for multiple mobile manipulator cooperative action programming |