Radian A Gondokaryono


Contact Information

Education

Research Interests

About Me

From a mechanical engineering background, I've expanded my research and project interests to different fields of robotics. I'm interested in applying theoretical knowledge and system integration to real-world problems, medical robots and minimally invasive surgery being one of them. My primary focus is system identification and model based control for supervised autonomy of robot assisted surgery. My masters thesis work concluded in a cooperative force tracking of two manipulators with impedance control. Additionally, I am interested in various aspects of robotics including optimal control, estimation, machine learning, and computer vision.

Publications

Refereed Journal Publications


  1. Gondokaryono RA, Agrawal A, Munawar A, Nycz CJ, Fischer GS, An Approach to Modeling Closed-Loop Kinematic Chain Mechanisms, applied to Simulations of the da Vinci Surgical System, Special Issue on Platforms for Robotics Research - Acta Polytechnica Hungarica, Vol 16, No 8, pp 29-48, Nov 2019. Journal ToC, PDF
  2. Wang Y, Gondokaryono RA, Munawar A, Fischer GS, A Convex Optimization-based Dynamic Model Identification Package for the da Vinci Research Kit, IEEE Robotics and Automation Letters (RA-L), Vol 4, No 4, Oct 2019. IEEE

Refereed Conference Proceedings


  1. Munawar A, Gondokaryono R, Wang Y, Fischer GS, A Real-Time Dynamic Simulator and an Associated Front-End Representation Format for Simulating Complex Robots and Environments, IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2019, Macau, China, Nov 2019. (Best Application paper Award Finalist) (In Press) IEEE
  2. Nycz CJ, Gondokaryono R, Carvalho P, Patel N, Wartenberg M, Pilitsis JG, Fischer GS, Mechanical Validation of an MRI Compatible Stereotactic Neurosurgery Robot in Preparation for Pre-Clinical Trials, IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2017, Vancouver, BC, Canada, Sept 2017. IEEE

Lab Members