Hans Dulimarta
Papers
7
Total Citations
301
H-Index
6
About
Hans Dulimarta is a pioneer in the field of miniature climbing and crawling robotics, with a career focused on solving the fundamental challenges of mobility in constrained and vertical environments. His most significant contributions center on the design, modeling, and control of under-actuated robots—machines that use fewer actuators than degrees of freedom to save weight and complexity. His landmark paper, "Climbing the walls [robots]" (140 citations), introduced two novel kinematic designs for miniature climbing robots that use suction for adhesion, a concept he refined in subsequent work on bipedal climbers. Dulimarta’s research is distinguished by its rigorous integration of mechanical design with control theory, as seen in his work on nonholonomic motion planning and DSP-based controllers. His second-generation miniature crawler robot, detailed in a paper with 30 citations, demonstrated practical applications in urban reconnaissance and pipe inspection. Notably, his 2004 paper describes what was then the smallest bipedal robot capable of climbing walls and walking on ceilings. With over 300 total citations across his core publications, Dulimarta’s work has laid essential groundwork for the development of agile, lightweight robots for search-and-rescue, inspection, and surveillance.
Research Focus
Key Achievements
Top Papers
- 1Climbing the walls [robots]140 citations · 2002
- 2
- 3Modeling and control of an under-actuated miniature crawler robot30 citations · 2002
- 4
- 5DSP solution for wall-climber micro-robot control using TMS320LF2407 chip22 citations · 2002
- 6Modeling, control, and motion planning of a climbing microrobot13 citations · 2004
- 7