Prof. dr. ir. Joris De Schutter

Department of Mechanical Engineering
Division of Production Engineering, Machine Design & Automation (PMA)
Celestijnenlaan 300B, B-3001 Leuven (Heverlee), Belgium
Tel: (+32)16 32 24 79, Fax: (+32)16 32 29 87
( Map to reach PMA)

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Background

Joris De Schutter received the degree of mechanical engineer from the Katholieke Universiteit (K.U.) Leuven, Belgium, in 1980, the M.S. degree from the Massachusetts Institute of Technology, in 1981, and the Ph.D. degree in mechanical engineering, also from the K.U.Leuven, in 1986. Following work as a control systems engineer in industry, in 1986, he became a Lecturer in the Department of Mechanical Engineering, Division PMA (Production Engineering, Machine Design and Automation), K.U.Leuven, where he has been a Full Professor since 1995.

He teaches courses in kinematics and dynamics of machinery, control, and robotics, and has been the coordinator of the study program in mechatronics, established in 1986.

He has published papers on sensor based robot control and programming (in particular force control and compliant motion), position control of flexible systems, and optimization of mechanical and mechatronic drive systems.

Publications

· Updated list (searching K.U.Leuven Lirias data base -> might take a few minutes)

· Stored list (updated September 20^th, 2008 -> fast)

· Highlights: rigid body motion & invariance

1. De Schutter, J. (2010). Invariant description of rigid body motion trajectories. ASME Journal of Mechanisms and Robotics, DOI 011004-1/9 (pdf).

2. De Schutter J., Di Lello E., De Schutter J.F.M., Matthysen R., Benoit T., and De Laet T. (2011). Recognition of 6 DOF Rigid Body Motion Trajectories using a Coordinate-Free Representation. Proc. 2011 IEEE International Conference on Robotics and Automation, Shanghai, 2071-2078 (pdf).

· Highlights: sensor-based robotics

1. De Schutter, J., De Laet, T., Rutgeerts, J., Decré, W., Smits, R., Aertbeliën, E., Claes, K., Bruyninckx, H. (2007). Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty. International Journal of Robotics Research, 26(5), 433-455 (pdf).

2. Bruyninckx, H., De Schutter, J. (1996). Specification of force-controlled actions in the "task frame formalism" : a synthesis. IEEE Transactions on Robotics and Automation, 12(4), 581-589 (pdf).

3. De Schutter, J., Van Brussel, H. (1988). Compliant Robot Motion II. A control approach based on external control loops. International Journal of Robotics Research, 7(4), 18-33.

4. De Schutter, J., Van Brussel, H. (1988). Compliant robot motion I. A formalism for specifying compliant motion tasks. International Journal of Robotics Research, 7(4), 3-17.

5. De Laet, T., De Schutter, J., Bruyninckx, H. (2008). A rigorously Bayesian beam model and adaptive full scan model for range finders in dynamic environments. Journal of Artificial Intelligence Research, 33, 179-222 (pdf).

6. Meeussen, W., Staffetti, E., Bruyninckx, H., Xiao, J., De Schutter, J. (2008). Integration of planning and execution in force controlled compliant motion. Robotics and Autonomous Systems, 56(5), 437-450 (pdf).

7. Slaets, P., Lefebvre, T., Rutgeerts, J., Bruyninckx, H., De Schutter, J. (2007). Incremental building of a polyhedral feature model during force controlled compliant motion. IEEE Transactions on Robotics, 23(1), 20-33 (pdf).

8. Lefebvre, T., Bruyninckx, H., De Schutter, J. (2004). Nonlinear Kalman filtering for force-controlled robot tasks. Germany: Springer-Verlag Berlin (link).

9. Baeten, J., De Schutter, J. (2003). Integrated visual servoing and force control. the task frame approach. Germany: Springer-Verlag Berlin (link).

10. Lefebvre, T., Bruyninckx, H., De Schutter, J. (2005). Task planning with active sensing for autonomous compliant motion. International Journal of Robotics Research, 24(1), 61-81 (pdf).

11. Lefebvre, T., Bruyninckx, H., De Schutter, J. (2005). Polyhedral contact formation identification for autonomous compliant motion: exact nonlinear Bayesian filtering. IEEE Transactions on Robotics and Automation, 21(1), 124-129 (pdf).

12. Baeten, J., Bruyninckx, H., De Schutter, J. (2003). Integrated vision/force robotic servoing in the task frame formalism. International Journal of Robotics Research, 22(10/11), 941-954 (pdf).

13. Lefebvre, T., Bruyninckx, H., De Schutter, J. (2003). Polyhedral contact formation modeling and identification for autonomous compliant motion. IEEE Transactions on Robotics and Automation, 19(1), 26-41 (pdf).

14. Lefebvre, T., Bruyninckx, H., De Schutter, J. (2003). Kalman filters for nonlinear systems: a comparison of performance. International Journal of Control, 77(7), 639-653.

15. Lefebvre, T., Bruyninckx, H., De Schutter, J. (2002). Comment on a new method for the nonlinear transformation of means and covariances in filters and estimators. IEEE Transactions on Automatic Control, 47(8), 1406-1408.

16. De Schutter, J., Bruyninckx, H., Dutre, S., De Geeter, J., Katupitiya, J., Demey, S., Lefebvre, T. (1999). Estimating first-order geometric parameters and monitoring contact transitions during force controlled compliant motion. International Journal of Robotics Research, 18(12), 1161-1184 (pdf).

17. Demey, S., Bruyninckx, H., De Schutter, J. (1997). Model-based planar contour following in the presence of pose and model errors. International Journal of Robotics Research, 16(6), 840-858.

18. De Geeter, J., Van Brussel, H., De Schutter, J., Decreton, M. (1997). A smoothly constrained Kalman filter. IEEE Transactions on Pattern Analysis and Machine Intelligence, 19(10), 1171-1177 (pdf).

19. Bruyninckx, H., Demey, S., Dutre, S., De Schutter, J. (1995). Kinematic models for model based compliant motion in the presence of Uncertainty. International Journal of Robotics Research, 14(5), 465-482.

· Highlights: kinematics and dynamics of mechanisms and machines

1. Verschuure, M., Demeulenaere, B., Swevers, J., De Schutter, J. (2008). Counterweight balancing for vibration reduction of elastically mounted machine frames: a second-order cone programming approach. Journal of Mechanical Design, 130(2), 11 (pdf).

2. Demeulenaere, B., Aertbeliën, E., Verschuure, M., Swevers, J., De Schutter, J. (2006). Ultimate limits for counterweight balancing of crank-rocker four-bar linkages. Journal of Mechanical Design, 128(6), 1272-1284 (pdf).

3. Demeulenaere, B., De Schutter, J. (2005). Input torque balancing using an inverted cam mechanism. Journal of Mechanical Design, 127(5), 887-900 (pdf).

4. Demeulenaere, B., Spaepen, P., De Schutter, J. (2005). Input torque balancing using a cam-based centrifugal pendulum: design procedure and example. Journal of Sound and Vibration, 283(1/2), 1-20 (pdf).

5. Demeulenaere, B., Spaepen, P., De Schutter, J. (2005). Input torque balancing using a cam-based centrifugal pendulum: design optimization and robustness. Journal of Sound and Vibration, 283(1/2), 21-46 (pdf).

6. Demeulenaere, B., De Schutter, J. (2003). Synthesis of inertially compensated variable-speed cams. Journal of Mechanical Design, 125(3), 593-601 (pdf).

7. Bruyninckx, H., De Schutter, J. (1998). Closed-form forward kinematics for a (3111)² fully parallel manipulator. IEEE Transactions on Robotics and Automation, 14(2), 326-328.

· Highlights: system modeling, identification and (motion) control

1. Pipeleers, G., Demeulenaere, B., Swevers, J., De Schutter, J. (2008). Robust High-Order Repetitive Control: Optimal Performance Trade-offs. Automatica, , 2628-2634 (pdf).

2. Verscheure, D., Demeulenaere, B., Swevers, J., De Schutter, J., Diehl, M. (2009). Practical time-optimal trajectory planning for robots: a convex optimization approach. IEEE Transactions on Automatic Control, (accepted).

3. Verscheure, D., Sharf, I., Bruyninckx, H., Swevers, J., De Schutter, J. (2009). Identification of contact dynamics parameters for stiff robotic payloads. IEEE Transactions on Robotics, (accepted).

4. Swevers, J., Verdonck, W., De Schutter, J. (2007). Dynamic model identification for industrial robots - Integrated experiment design and parameter estimation. IEEE control systems magazine, 27(5), 58-71 (pdf).

5. Swevers, J., Ganseman, C., Bilgin, D., De Schutter, J., Van Brussel, H. (1997). Optimal robot excitation and identification. IEEE Transactions on Robotics and Automation, 13(5), 730-740 (pdf).

6. Torfs, D., De Schutter, J., Swevers, J. (1992). Extended Bandwidth zero phase error tracking control of Non-minimal phase systems. Journal of Dynamic Systems Measurement and Control-Transactions of the ASME, 114(3), 347-351.

7. Torfs, D., De Schutter, J. (1996). Optimal feedforward prefilter with frequency domain specification for nonminimum phase systems. Journal of Dynamic Systems Measurement and Control-Transactions of the ASME, 118(4), 791-795 (pdf).

8. Zhu, W., De Schutter, J. (1999). Adaptive control of mixed rigid/flexible joint robot manipulators based on virtual decomposition. IEEE Transactions on Robotics and Automation, 15(2), 310-317 (pdf).

9. Zhu, W., De Schutter, J. (1999). Control of two industrial manipulators rigidly holding an egg. IEEE Control Systems Magazine, 19(2), 24-30 (pdf).

10. Zhu, W., De Schutter, J. (1999). Adaptive control of electrically driven space robots based on virtual decomposition. AIAA Journal, 22(2), 329-339.

11. Zhu, W., Bien, Z., De Schutter, J. (1998). Adaptive motion/force control of multiple manipulators with joint flexibility based on virtual decomposition. IEEE Transactions on Automatic Control, 43(1), 46-60 (pdf).

12. Van de Straete, H., Degezelle, P., De Schutter, J., Belmans, R. (1998). Servo motor selection criterion for mechatronic applications. IEEE-ASME Transactions on Mechatronics, 3(1), 43-50 (pdf).

13. De Schutter, J., Torfs, D., Dutre, S., Bruyninckx, H. (1997). Invariant hybrid position/force control of a velocity controlled robot with compliant end effector using modal decoupling. International Journal of Robotics Research, 16(3), 340-356.

· Highlights: modeling and simulation of human motion

1. De Groote, F., Pipeleers, G., Jonkers, I., Demeulenaere, B., Patten, C., Swevers, J., De Schutter, J. (2009). A physiology based inverse dynamic analysis of human gait: potential and perspectives. Computer Methods in Biomechanics and Biomedical Engineering, (accepted).

2. Pipeleers, G., Demeulenaere, B., Jonkers, I., Spaepen, P., Van der Perre, G., Spaepen, A., Swevers, J., De Schutter, J. (2008). Dynamic simulation of human motion: numerically efficient inclusion of muscle physiology by convex optimization. Optimization and Engineering, 9(3), 213-238 (pdf).

3. De Groote, F., De Laet, T., Jonkers, I., De Schutter, J. (2008). Kalman smoothing improves the estimation of joint kinematics and kinetics in marker-based human gait analysis. Journal of biomechanics, 41(16), 3390-3398 (pdf).

Page design: Joris De Schutter
Information provider: Division PMA, Dept. Mechanical Engineering, K.U.Leuven
Copyright 2009, Katholieke Universiteit Leuven, http://www.mech.kuleuven.ac.be/~jdeschut
Last updated: January 23rd, 2009