Doctoral Theses

Jarkko Saloranta and Antti Hellsten

Semi-nonmatching block-interface scheme for a structured-grid-based flow solver (Helsinki University of Technology, Laboratory of Aerodynamics, 2007)

Dag Björklund

A kernel language for unified code synthesis (Turku Centre for Computer Science, 2005)

Allan R Wieting

Exploratory study of transient unstart phenomena in a three-dimensional fixed-geometry scramjet engine (NASA, 1976)

Vladimir Bazant, Vaclav Chvalovsky and Jiri Rathousky

Handbook of organosilicon compounds : advances since 1961 : a series. Vol 3 (Marcel Dekker, 1973)

Licenciate theses

Sami Ylönen

Development Project of WorkPartner Service Robot: Phases of Development from Mechatronical Designing to Working Service Robot (2003)

Pekka Aarnio

Simulation of a hybrid locomotion robot vehicle (2002)

Miso Montonen

Motion Control of a Robot with a Hybrid Locomotion System (2001)

Sami Salmi

Kehittyneen palvelurobotin ohjausjärjestelmän arkkitehtuuri (2001)

Ilkka Leppänen

Mechanical design of the WorkPartner service robot (1997)

Master's theses (in Finnish)

Melak Mekonen Zebenay

Manipulator control for physical astronaut-robot interaction (2009)

Paavo Heiskanen

Development of a dynamic simulator of a mobile robot for astronaut assistance (2008)

Farrukh Iqbal Sheikh

Real-Time Human Arm Motion Translation for the WorkPartner Robot (2008)

Pekka Autere

Model based balance control of a quadruped robot (2007)

Hannes Filippi

Wireless Teleoperation of Robotic Manipulators (2007)

Tuomas Kaski

Learning and performing skill demanding tasks with WorkPartner robot (2004)

Aleksi Kivi

Teleoperation System for a Service Robot (2004)

Mikko Heikkilä

Palvelurobotin ohjelmiston hallinta (2003)

Minna Hirsi

Integration of the subsystems of the service robot's cognitive user interface (2003)

Jouni Sievilä

Palvelurobotin suorittama etsintä- ja tunnistustehtävä (2003)

Hanna-Liisa Suontama

Use of signs for configuring tasks for service robots (2003)

Miso Montonen

Motion Control of a Robot with a Hybrid Locomotion System (2001)

Zoltan Skrabak

Kentauri-tyyppinen palvelurobotin manipulaattorin kinematiikka (2001)

Bazsika Kornél

Visual User Interface tervezése a WorkPartner rotothoz (2000)

Sami Ylönen

Palvelurobotin sähkömekaanisen jalan ohjausjärjestelmä (2000)

Publication in series

• Timo Oksanen,
  Nelijalkainen nelipyöräinen robotti liikkuvana systeeminä,
  Helsinki: Teknillinen korkeakoulu, 2003. (Automation Technology Laboratory, Series A: Research Reports, No. 25).

Journal article

• Mikko Heikkilä, Sami Terho, Minna Hirsi, Aarne Halme and Pekka Forsman,
  "Using signs for configuring work tasks of service robots,"
  Industrial Robot, Vol. 33, no. 4, pp. 308-311, 2006.
  Electronic publication
• Sami Ylönen,
  "Kohti koneihmistä,"
  Automaatioväylä, s. 10-11, 2005.
• Aarne Halme, Tobias Luksch and Sami Ylönen,
  "Biomimicing motion control of the WorkPartner robot,"
  Industrial Robot, Vol. 31, no. 2, pp. 209-217, 2004.
  Electronic publication
• Aarne Halme, Ilkka Leppänen, Jussi Suomela, Sami Ylönen and Ilkka Kettunen,
  "WorkPartner: Interactive Human-like Service Robot for Outdoor Applications,"
  The International Journal of Robotics Research, Vol. 22, no. 7-8, pp. 627-640, 2003.
  Electronic publication

Book article

• Ilkka Leppänen,
  "Sensing Terrain Parameters and the Characteristics of Vehicle-terrain Interaction Using the Locomotion System of a Robot,"
  in Cutting Edge Robotics 2009, Vienna, Austria: IN-TECH, 2009.
• Aarne Halme, Jouni Sievilä, Ilkka Kauppi and Sami Ylönen,
  "Performing skilled work with an interactively operated service robot,"
  in Field and Service Robotics, Shinichi Yuta, Hajime Asama, Sebastian Thrun, Erwin Prassler and Takashi Tsubouchi (eds.), vol. 24, Berlin: Springer, 2006, pp. 377-384.
• Aarne Halme,
  "From Tele-operation to Cognition based Tele-interaction,"
  in Telecommunication, Teleimmersation and Telexistence II, Susumu Tachi (ed.), Japan: Ohmsa Ltd, 2005, pp. 39-61.

Conference article

• Heikkilä, Seppo, Didot F. and Aarne Halme,
  "Centaur-type Service Robot Technology Assessment for Astronaut Assistant Development,"
  in Proceeding of Advanced Space Technologies for Robotics and Automation (ASTRA), 2008.
• Ilkka Leppänen, Petri Virekoski and Aarne Halme,
  "Sensing Terrain Parameters and the Characteristics of Vehicle-Terrain Interaction Using the Multimode Locomotion System of a Robot,"
  in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, September 22-26, 2008, 2008, 500-505.
• Aarne Halme,
  "Tele-operation by the aid of cognition based tele-interaction,"
  in Proc. The 13th IASTED International Conference on Robotics and Applications Telematics, Wurzburg Saksa August 2007, 2007, 1 p.
• Petri Virekoski and Ilkka Leppänen,
  "Terrain-adaptive locomotion of a wheel-legged service robot using actuator-based force measurements,"
  in Proc. Advances in Climbing and Walking Robots 10th International Conference, CLAWAR 2007, Singapore, July 16-18, 2007, 2007, pp.234-241.
• Sami Ylönen, Pekka Forsman and Aarne Halme,
  "Modularity in future service robots,"
  in Proc. ICAR 2007, the 13th International Conference on Advanced Robotics, Jeju, Korea, August 21-24, 2007, 2007.
• Sami Terho, Mikko Heikkilä, Tapio Taipalus, Jari Saarinen and Aarne Halme,
  "A framework for graphical programming of skilled tasks with service robots,"
  in Proc. The 9th International Conference on Climbing and Walking Robots, Brussels, 2006, 2006, 8 p.
• Aarne Halme,
  "Common Situation Awareness as Basis for Human-Robot Interface,"
  in Proc. The 8th International Conference on climbing and walking Robots, London, 12-15 September 2005, 2005, 16 s.
• Panu Harmo, Tapio Taipalus, Jere Knuuttila, Jose Vallet and Aarne Halme,
  "Needs and Solutions - Home Automation and Service Robots for the Elderly and Disabled,"
  in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton Canada 2005, 2005, 6 p.
  Electronic publication
• Mikko Heikkilä, Sami Terho, Minna Hirsi, Aarne Halme and Pekka Forsman,
  "Using Signs for configuring Work Tasks of Service Robots,"
  in Proc. The 8th International Conference on climbing and walking Robots, Lontoo 2005, 2005, 6 p.
• Jorma Selkäinaho and Pekka Forsman,
  "Navigation of an Outdoor Service Robot by Matching 2D Laser Scans,"
  in Proceedings of the 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Espoo: IEEE, 2005, 6 p.
• Pekka Forsman and Aarne Halme,
  "Feature based registeration of range images for mapping of natural outdoor environments,"
  in Proceedings of the 2nd International Symposium on 3D Data Processing, Visualization and Transmission, IEEE, 2004, 8 p.
• Jussi Suomela and Aarne Halme,
  "Human robot interaction - Case WorkPartner,"
  in Proc. The IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai 2004, 2004, pp. 3327-3332.
• Sami Ylönen, Mikko Heikkilä and Petri Virekoski,
  "Interactions between human and robot - Case study: WorkPartner-robot in the ISR 2004 exhibition,"
  in Proc. The 7th International Conference on Climbing and Walking Robots, Madrid 2004, Madrid: 2004, 6 p.
• Aarne Halme, Jouni Sievilä, Ilkka Kauppi and Sami Ylönen,
  "Performing skilled work with an interactively operated service robot,"
  in Proc. The 4th International Conference on Field and Service Robotics, Mt. Fuji 2003, Japani: 2003.
• Tobias Luksch, Sami Ylönen and Aarne Halme,
  "Combined motion control of the platform and the manipulator of WorkPartner robot,"
  in Proceedings of the 6th International Conference on Climbing and Walking Robots, Giovanni Muscato (ed.), Italy: CLAWAR, 2003, pp. 1-8.
• Jussi Suomela and Halme Aarne,
  "Novel interactive control interface for centaur-like service robot,"
  in Proceedings of 15th IFAC World Congress on Automatic Control, 2002.
• Sami Ylönen and Halme Aarne,
  "Centaur like Service Robot,"
  in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002.
• Sami Ylönen and Aarne Halme,
  "Further development and testing of the hybrid locomotion of WorkPartner robot,"
  in Proceedings of 5th International Conference on Climbing and Walking Robots, 2002.
• Sami Ylönen and Aarne Halme,
  "Mechatronics structure of the centaur like wheeled service robot,"
  in Proceedings of 2nd IFAC Conference on Mechatronic Systems, 2002.
• Pekka Aarnio, Kari Koskinen and Sami Ylönen,
  "Using Simulation during Development of Combined Manipulator and Hybrid Locomotion Platform,"
  in Proceedings of International Conference on Field and Service Robotics, 2001, pp. 287-294.
• Pekka Forsman,
  "Feature based registration of 3D perception data for indoor and outdoor map building,"
  in FSR 2001, 2001.
• Aarne Halme,
  "Advanced locomotion mechanism and their control systems of service robots - finding ideas from nature,"
  in IAV2001, 2001.
• Aarne Halme, Ilkka Leppänen, Miso Montonen and Sami Ylönen,
  "Robot motion by simultaneously wheel and leg propulsion,"
  in Proc. 4rd International Conference on Climbing and Walking Robots, Karlsruhe, Germany, September 24-26 2001, 2001.
• Aarne Halme, Ilkka Leppänen, Sami Ylönen and Ilkka Kettunen,
  "WorkPartner - Centaur like service robot for outdoor aplications,"
  in FSR 2001, 2001.
• Jorma Selkäinaho, Aarne Halme and Janne Paanajärvi,
  "Navigation system of an outdoor service robot with hybrid locomotion system,"
  in FSR 2001, 2001.
• Jussi Suomela and Aarne Halme,
  "Cognitive human machine interface for a centauroid robot,"
  in ServiceRob'2001, 2001.
• Jussi Suomela and Aarne Halme,
  "Cognitive human machine interface of workpartner robot,"
  in Proceedings Intelligent Autonomous Vehicles 2001 Conference (IAV2001), 2001.
• Sami Ylönen, Ilkka Leppänen, Sami Salmi and Aarne Halme,
  "Hybrid locomotion of the WorkPartner service robot,"
  in FSR 2001, 2001.
• P Aarnio, K Koskinen and S Salmi,
  "Simulation of the hybtor robot. 3rd International Conference on Climbing and Walking Robots,"
  in Proceedings CLAWAR 2000, Professional Engineering Publishing Ltd, 2000, pp. 267-274.
• A Halme, K Koskinen, V-P Aarnio, S Salmi, I Leppänen and S Ylönen,
  "WorkPartner - Future Interactive servicerobot,"
  in STeP 2000 - Millennium of Artificial Intelligence, Vol. 2: 'AI of Today', Helsinki, Finland: Finnish Artificial Intelligence Society, 2000, pp. 35-42.
• A Halme, I Leppänen, S Salmi and S Ylönen,
  "Hybrid locomotion of a wheel-legged machine,"
  in Proceedings CLAWAR 2000, Professional Engineering Publishing Ltd, 2000, pp. 167-173.
• A Halme, I Leppänen and S Salmi,
  "Development of WorkPartner-robot - design of actuating and motion control system,"
  in Proceedings of the 2nd International Conference on Climbing and Walking Robots, G. S Virk, M Randall and D Howard, London: Professional Engineering Publishing Ltd, 1999, s. 657-665.
• I Leppänen, S Salmi and A Halme,
  "Work partner - HUT-Automations new hybrid walking machine,"
  in Proc. The 1st International Symposium on climbing and walking robots, BSMEE, 1998, s. 391-394.