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About

D. Vassileva is a robotics researcher whose work centers on the control, accuracy, and sensing of robotic manipulators, with a particular focus on redundant robots and harmonic drive systems. Her major contributions include the development of a sensorless torque control algorithm for robots equipped with Harmonic Drive reducers, which uses an experimentally derived friction model that accounts for temperature variation, speed, and bearing type—a practical advancement for improving torque estimation without additional hardware. This work, her most cited with 19 citations, demonstrates her ability to bridge theoretical modeling with real-world application. She has also advanced the field of redundant robot control through her "sensibility control" approach, which applies manifold structures to optimize drive selection and maintain precision along trajectory tangent vectors. Her 2007 paper on a modified computed torque method for 7-DOF robots, with 6 citations, further showcases her expertise in servo-control. Notably, her 2009 work on a "chopsticks robot" highlights her interest in dexterous manipulation tasks. Vassileva’s research is characterized by a strong experimental focus, offering practical solutions for improving robot accuracy, control, and efficiency in complex, multi-degree-of-freedom systems.