### Theses, book chapter, conference articles

Scroll down### Journal articles

**2020**

- J.-H. Lim, Y. Weng, Q.-C. Pham. 3D printing of curved
concrete surfaces using Adaptable Membrane
Formwork.
*Construction & Building Materials*, vol. 232, 2020 [Online]

**2019**

- X. Zhang, Q.-C. Pham. Planning coordinated motions for
tethered planar mobile robots.
*Robotics and Autonomous Systems*, vol. 118, pp. 189–203, 2019 [Preprint] - T. S. Lembono, F. Suárez-Ruiz, Q.-C. Pham. SCALAR:
Simultaneous CAlibration of 2D LAser and Robot kinematic
parameters using planarity and distance
constraints.
*IEEE Transactions on Automation Science and Engineering*, vol. 16(4), pp. 1971–1979, 2019 [Preprint] - A. Bin Anwar, I. H. Ibrahim, Q.-C. Pham. Spatter
transport by inert gas flow in Selective Laser Melting:
A simulation study.
*Powder Technology*, vol. 352, pp. 103–116, 2019 [Online]

**2018**

- H. Nguyen, Q.-C. Pham. On the covariance of X in AX =
XB.
*IEEE Transactions on Robotics*, vol. 34(6), pp. 1651–1657, 2018 [Preprint] - A. Singh, Q.-C. Pham. Reactive path coordination based
on time-scaled collision cones.
*Journal of Guidance, Control, and Dynamics*, vol. 41(9), pp. 2031–2038, 2018 [Preprint] - X. Zhang, M. Li, J.-H. Lim, Y. Weng, D. Tay, H. Pham,
Q.-C. Pham. Large-scale 3D printing by a team of mobile
robots.
*Automation in Construction*, vol. 95, pp. 98–106, 2018 [Online] [Video] (featured on*The RIBA Journal*,*IEEE Spectrum*,*Yahoo! UK*,*Digital Trends*,*TechXplore*,*3D Printing Industry*, etc.) - P. Lertkultanon, Q.-C. Pham. A certified-complete
bimanual manipulation planner.
*IEEE Transactions on Automation Science and Engineering*, vol. 15(3), pp. 1355–1368, 2018 [Preprint] [Video] - Q.-C. Pham, R. Madhavan, L. Righetti, W. Smart, and
R. Chatila. The impact of robotics and automation on
working conditions and employment.
*IEEE Robotics and Automation Magazine*, vol. 25(2), pp. 126–128, 2018 [Preprint] - H. Pham, Q.-C. Pham. A new approach to Time-Optimal
Path Parameterization based on Reachability
Analysis.
*IEEE Transactions on Robotics*, vol. 34(3), pp. 645–659, 2018 [Preprint] - J.-H. Lim, P. Narayan, Q.-C. Pham. Improving flexural
characteristics of 3D printed geopolymer composites with
in-process steel cable reinforcement.
*Construction & Building Materials*, vol. 178, pp. 32–41, 2018 [Online] - A. Bin Anwar, Q.-C. Pham. Study of the spatter
distribution on the powder bed during Selective
Laser Melting.
*Additive Manufacturing*, vol. 22, pp. 86–97, 2018 [Online] - F. Suárez-Ruiz, X. Zhou, Q.-C. Pham. Can robots
assemble an IKEA chair?
*Science Robotics*, vol. 3, eaat6385, 2018 [Preprint] [Online] [Video] (featured on*The Guardian*,*The New York Times*,*The Economist*,*ABC News*,*Science*,*Nature*,*Wired*,*MIT Technology Review*, CNN, Reuters, etc.) - L. Righetti, Q.-C. Pham, R. Madhavan,
R. Chatila. Lethal Autonomous Weapon Systems.
*IEEE Robotics and Automation Magazine*, vol. 25(1), pp. 123–126, 2018 [Preprint] - H. Pham, Q.-C. Pham. Robotic manipulation of a
rotating chain.
*IEEE Transactions on Robotics*, vol. 34(1), pp. 139–150, 2018 [Preprint] [Video]

**2017**

- X. Zhou, P. Lertkultanon, Q.-C. Pham. Closed-chain
manipulation of large objects by multi-arm robotic
systems.
*IEEE Robotics and Automation Letters*, vol. 2(4), pp. 1832–1839, 2017 [Preprint] [Video] - C. Veras, Q.-C. Pham, G. Maus. The Silhouette
Zoetrope: a new blend of motion, mirroring, depth, and
size illusions.
*i-Perception*, vol. 8(1), pp. 1–8, 2017 [Online (free)] [Video] - S. Caron, Q.-C. Pham, Y. Nakamura. ZMP support areas
for multi-contact mobility under frictional
constraints.
*IEEE Transactions on Robotics*, vol. 33(1), pp. 67–80, 2017 [Preprint] - 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*, vol. 36(1), pp. 44–67, 2017 [Preprint] [Video] - S. Caron, Q.-C. Pham, Y. Nakamura. Completeness of
randomized kinodynamic planners with state-based
steering.
*Robotics and Autonomous Systems*, vol. 89, pp. 85–94, 2017 [Preprint] - A. Bin Anwar, Q.-C. Pham. Selective Laser Melting of
AlSi10Mg: Effects of scan direction, part placement and
inert gas flow velocity on tensile strength.
*Journal of Materials Processing Technology*, vol. 240, pp. 388–396, 2017 [Online]

**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 [Preprint] - 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 [Preprint] - 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 [Preprint] [Video] - P. Lertkultanon, Q.-C. Pham. A single-query
manipulation planner.
*IEEE Robotics and Automation Letters*, vol. 1(1), pp. 198–205, 2016 [Preprint] [Video] - 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 [Preprint]

**2015**

- 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 [Preprint] [Video] - 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 [Preprint]

**2014**

- Q.-C. Pham, M. Duarte, et al. Robust evaluation of
time-since-awakening using force platform
posturography.
*Revista Brasileira de Engenharia Biomédica*, vol. 30(4), pp. 1–9, 2014 [Online (free)] - 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 [Preprint]

**2011**

- Q.-C. Pham, A. Berthoz, H. Hicheur. Invariance of
locomotor trajectories across visual and gait
direction conditions.
*Experimental Brain Research*, vol. 210(2), pp. 207–215, 2011 [Preprint]

**2010**

- N. Tabareau, J.-J. Slotine, Q.-C. Pham. How
synchronization protects from noise.
*PLoS Computational Biology*, vol. 6(1), e1000637, 2010 [Online (free)]

**2009**

- Q.-C. Pham, N. Tabareau, J.-J. Slotine. A
contraction theory approach to stochastic incremental
stability.
*IEEE Transactions on Automatic Control*, vol. 54(4), pp. 816–820, 2009 [Preprint] - Q.-C. Pham, H. Hicheur. On the open-loop and feedback
processes that underlie the formation of trajectories
during visual and nonvisual locomotion in
humans.
*Journal of Neurophysiology*, vol. 102(5), pp. 2800–2815, 2009 [Preprint]

**2008**

- B. Girard, N. Tabareau, Q.-C. Pham, A. Berthoz,
J.-J. Slotine. Where neuroscience and dynamic system
theory meet autonomous robotics: a contracting basal
ganglia model for action selection.
*Neural Networks*, vol. 21(4), pp. 628–641, 2008 [Online]

**2007**

- Q.-C. Pham, H. Hicheur, G. Arechavaleta,
J.-P. Laumond, A. Berthoz. The formation of
trajectories during goal-oriented locomotion in
humans. II. A maximum smoothness model.
*European Journal of Neuroscience*, vol. 26(8), pp. 2391–2403, 2007 [Preprint] - H. Hicheur, Q.-C. Pham, G. Arechavaleta,
J.-P. Laumond, A. Berthoz. The formation of
trajectories during goal-oriented locomotion in
humans. I. A stereotyped behavior.
*European Journal of Neuroscience*, vol. 26(8), pp. 2376–2390, 2007 [Preprint] - Q.-C. Pham, J.-J. Slotine.
Stable concurrent synchronization in dynamic system networks.
*Neural Networks*, vol. 20(1), pp. 62–77, 2007 (top 10 most cited articles in*Neural Networks*2007–2012) [Preprint]

### Theses

**2019**

- H. Pham.
*Time-optimal motion planning and control*. PhD Thesis, Nanyang Technological University, Singapore, 2019 [Preprint] - H. Nguyen.
*Contributions to robotic manipulation under uncertainty: calibration, estimation, motion planning*. PhD Thesis, Nanyang Technological University, Singapore, 2019 [Preprint] - A. Bin Anwar.
*Large-scale Selective Laser Melting: study of the effects and removal of spatter by the inert gas flow during SLM*. PhD Thesis, Nanyang Technological University, Singapore, 2019 [Preprint]

**2017**

- P. Lertkultanon.
*Planning algorithms for complex manipulation tasks*. PhD Thesis, Nanyang Technological University, Singapore, 2017 [Preprint]

**2009**

- Q.-C. Pham.
*A study of human locomotor trajectories*. PhD Thesis, Université Pierre et Marie Curie, France, 2009 [Preprint]

### Book chapter

**2015**

- Q.-C. Pham. Trajectory planning. In Andrew Nee
(Ed.),
*Handbook of Manufacturing Engineering and Technology*, pp 1873–1887, Springer London, 2015 [Online] [Preprint]

### Conference articles

**2019**

- C. Yu, Z. Cai, H. Pham, Q.-C. Pham. Siamese CNN for sub-millimeter-accurate Visual Servoing. IROS 2019, Macau, China, November 2019 [Preprint]
- E. Tiryaki, X. Zhang, Q.-C. Pham. Printing-while-moving: a new paradigm for large-scale robotic 3D Printing. IROS 2019, Macau, China, November 2019 [Preprint] [Video]
- H. Pham, Q.-C. Pham. Critically fast pick-and-place with suction cups. ICRA 2019, Montreal, Canada, May 2019 [Preprint] [Video]

**2018**

- T. S. Lembono, F. Suárez-Ruiz, Q.-C. Pham. SCALAR – Simultaneous Calibration of 2D Laser and Robot's kinematic parameters using three planar constraints. IROS 2018, Madrid, Spain, October 2018 [Preprint]
- F. Suárez-Ruiz, T. S. Lembono, Q.-C. Pham. RoboTSP – A fast solution to the Robotic Task Sequencing Problem. ICRA 2018, Brisbane, Australia, May 2018 [Preprint] [Video]
- H. Pham, Q.-C. Pham. Time-Optimal Path Tracking via Reachability Analysis. ICRA 2018, Brisbane, Australia, May 2018 [Preprint]
- P. Lertkultanon, J. Yang, H. Pham, Q.-C. Pham. Departure and conflict management in multi-robot path coordination. ICRA 2018, Brisbane, Australia, May 2018 [Preprint]

**2017**

- S. Caron, Q.-C. Pham. When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC. Humanoids 2017, Birmingham, UK, November 2017 [Preprint]
- H. Pham, Q.-C. Pham. On the structure of the time-optimal path parameterization problem with third-order constraints. ICRA 2017, Singapore, May 2017 [Preprint]

**2016**

- F. Suárez-Ruiz, Q.-C. Pham. A framework for fine robotic
assembly.
ICRA 2016,
Stockholm, Sweden, May 2016
[Preprint] [Video]
(featured
on
*MIT Technology Review*,*Gizmodo*,*Libération*,*The Telegraph*,*The New York Observer*, etc.)

**2015**

- S. Caron, Q.-C. Pham, Y. Nakamura. Leveraging cone double description for multi-contact stability of humanoids with applications to statics and dynamics. RSS 2015, Rome, Italy, July 2015 [Online (free)]
- X. Yan, C.-C. Cheah, Q.-C. Pham, J.-J. Slotine. Robotic manipulation of micro/nanoparticles using optical tweezers with velocity constraints and stochastic perturbations. ICRA 2015, Seattle, USA, May 2015 [Preprint]
- S. Caron, Q.-C. Pham, Y. Nakamura. Stability of surface contacts for humanoid robots: closed-form formulae of the contact wrench cone for rectangular support areas. ICRA 2015, Seattle, USA, May 2015 [Preprint]

**2014**

- P. Lertkultanon, Q.-C. Pham. Dynamic non-prehensile object transportation. ICARCV 2014, Singapore, December 2014 [Preprint]
- S. Caron, Q.-C. Pham, Y. Nakamura. Completeness of randomized kinodynamic planners with state-based steering. ICRA 2014, Hong Kong, China, May 2014 [Preprint]

**2013**

- Q.-C. Pham. Characterizing and addressing dynamic singularities in the time-optimal path parameterization algorithm. IROS 2013, Tokyo, Japan, November 2013 [Preprint]
- Q.-C. Pham, S. Caron, Y. Nakamura. Kinodynamic planning in the configuration space via Admissible Velocity Propagation. RSS 2013, Berlin, Germany, June 2013 [Online (free)] [Supplementary material] [Interactive poster]

**2012**

- Q.-C. Pham, Y. Nakamura. Time-optimal path parameterization for critically dynamic motions of humanoid robots. Humanoids 2012, Osaka, Japan, November 2012 [Preprint]
- Q.-C. Pham. Planning manipulator trajectories under dynamics constraints using minimum-time shortcuts. Asian-MMS 2012, Tokyo, Japan, November 2012 [Preprint]
- Q.-C. Pham, K. Ayusawa, K. Kubota, Y. Nakamura. On the structural identifiability of joint parameters from motion capture data. SMC 2012, Seoul, Korea, October 2012 [Preprint]
- Q.-C. Pham, Y. Nakamura. Affine trajectory deformation for redundant manipulators. RSS 2012, Sydney, Australia, July 2012 [Online (free)] (best paper award)
- Q.-C. Pham, Y. Nakamura. Regularity properties and deformation of wheeled robots trajectories. ICRA 2012, Saint-Paul, USA, May 2012 [Preprint]

**2011**

- Q.-C. Pham. Fast trajectory correction for nonholonomic mobile robots using affine transformations. RSS 2011, Los Angeles, USA, June 2011 [Online (free)]

**2008**

- Q.-C. Pham. Analysis of discrete and hybrid stochastic systems by nonlinear contraction theory. ICARCV 2008, Hanoi, Vietnam, December 2008 [Preprint]