Publication

• Nigatu Hassen; Gaokun Shi; Jituo Li; Jin Wang; Guodong Lu; Howard Li; Quantum Machine Learning and Grover's Algorithm for Quantum Optimization of Robotic Manipulators", in  EEE Robotics and Automation Letters (RA-L), vol. 0, no. 0, pp. 0-000, Oct. 2025, doi: 10.1109/LRA.2025.3627071 . DOI

• Nigatu Hassen; Jihao Li; Gaokun Shi;  Jianguo wang; Guodong Lu; Howard Li; "Unveiling SO(3)  Parallel Robot Variants: Application of the Optimal Robot to a Humanoid Eye," in IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 11, pp. 11227-11234, Nov. 2025, doi: 10.1109/LRA.2025.3606380. DOI

• Nigatu  Hassen and D. Kim, “A Modified Lie Group-Based Synthesis for Parallel Mechanisms: Addressing Uncontrollable and Immovable Limb Cases,” Mech. Mach. Theory (MMT), vol. 216, no. August, pp. 1–26, 2025, DOI 

• Shi, G., Nigatu Hassen, Wang, Z., & Huang, Y. (2025). DNN-Augmented Kinematically Decoupled Three-DoF Origami Parallel Robot for High-Precision Heave and Tilt Control. Actuators, 14(6), 291 DOI 

• Zhu, K., Guo, H., Yu, W., Nigatu Hassen, Li, T., & Dong, H. "Theoretical Modeling and Bio-inspired Trajectory Optimization of A Multiple-locomotion Origami Robot," 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 11355-11361, doi: 10.1109/IROS58592.2024.10801958. 

• Li, J., Liao, T., Nigatu Hassen, Guo, H., Lu, G., & Dong, H. "Under-actuated Robotic Gripper with Multiple Grasping Modes Inspired by Human Finger," 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, 2024, pp. 5297-5302, doi: 10.1109/IROS58592.2024.10802532. 

• Nigatu Hassen and D. Kim, “Dimensionally Homogeneous Jacobian using Extended Selection Matrix for Performance Evaluation and Optimization of Parallel Manipulators,” in 2023 The 23rd International Conference on Control, Automation and Systems (ICCAS), Oct. 2023, no. Iccas, pp. 466–471.DOI 

• Nigatu Hassen and Doik Kim. 2023. “Workspace optimization of 1T2R parallel manipulators with a dimensionally homogeneous constraint-embedded Jacobian” Mechanism and Machine Theory (MMT) 188 (May): 105391, DOI 

• Nigatu Hassen, Doik Kim  “ The T-ROBOT: a Parasitic Motion Free 1T2R Parallel Manipulator”,  KSME, IT Convergence Sector Spring Conference (2022)  (Oral conference,  Link ) 

• Nigatu Hassen (2021), “Analysis of parasitic motion with the constraint embedded Jacobian for a 3-PRS parallel manipulator”, Mendeley Data, V3, doi: 10.17632/6krfj675cs.3

• Nigatu Hassen (2021),  “Constraint-Embedded Velocity Analysis of Lower-DoF Parallel Manipulators to Remove Parasitic Motion .”, Mendeley Data accompanying the paper of Mechanism and machine theory [Link], V3, DOI  

• Nigatu Hassen, Yun Ho Choi, and Doik Kim., On the Structural Constraint and Motion of 3-PRS Parallel Kinematic Machines, in:45th Mechanisms and Robotics Conference,  ASME, IDETC-CIE, Aug 17-19, 2021: pp. 1–10  [Link]  DOI .

• Nigatu Hassen, Yun Ho Choi, and Doik Kim. 2021. “Analysis of Parasitic Motion with the Constraint Embedded Jacobian for a 3-PRS Parallel Manipulator.” Mechanism and Machine Theory (MMT) 164 (October): 104409. DOI.

• Nigatu Hassen, and Doik Kim. 2021. “Optimization of 3-DoF Manipulators’ Parasitic Motion with the Instantaneous Restriction Space-Based Analytic Coupling Relation.” Applied Sciences 11 (10): 4690. DOI.

• Nigatu Hassen, and Yimesker Yihun. 2020. “Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMs.” In Mechanisms and Machine Science, edited by J. Michael McCarthy Pierre Larochelle, 83:242–52. Rapid City, SD, USA: Springer, Cham. DOI.

• Nigatu Hassen, and Doik Kim. 2020. “Fusion of Thickness Accommodation Methods for Thick Origami Folding.” Seoul: KSME 18IT-Th03A05. DOI.

• Kim, Moon Ki, Ji Yang Lee, Jung Hee Kim, Hassen Nigatu, and Doik Kim. 2019. “A Robust Position Estimation Algorithm under Unusual Large Range Errors.” In 2019 28th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2019. Institute of Electrical and Electronics Engineers Inc. DOI.

• Nigatu Hassen, and Doik Kim . 2018. “CLASSIFICATION SCHEME OF FLAT FOLD-ABILITY AND SENSOR SHIELDING MECHANISM AS A FLAT FOLD-ABLE ORIGAMI BASED DESIGN.” DOI .

• H Nigus, Nigatu Hassen, MR Gurala .2014, "Dynamic and stiffness modeling of new 3DOF PKM for high speed machining application" . International Journal of Engineering Research, 2014 LINK 

• Nigatu Hassen. (2014). Jacobian Analysis of Limited DOF Parallel Manipulator using Wrench and Reciprocal Screw Principle. International Journal of Engineering and Technical Research. 3. 354-358. 

• Nigatu Hassen, AP Singh, S Seid. 2013, Acceleration Analysis of 3DOF Parallel Manipulators* - Global Journal of Research In Engineering, 2013  LINK

• Nigatu Hassen, 2012, Dynamic Formulation of 3 PRS PKM Based on Screw Theory And Newton-Euler’s Approach  ‘Proceeding of national conference on science technology and innovation for prosperity of Ethiopia held on 16th-18th may 2012, from page 92-101’  LINK 

• Google Citation : for more