- NSERC Strategic Project, 'A High-Rate speed-reduction mechanism based
on Cams' 1996-1997, $117,078.
- NSERC Research Grant, 'Design, Dynamics and Control of Multibody
Mechanical Systems' 1994-1998 $59,700.
- NSERC Collaborative Research and Development Project, 'A Dual-Arm
Isotropically-Enhanced Robotic Environment for Trajectory Planning,
Obstacle Avoidance and Force Control', with Rajnikant V. Patel
(Responsible. Electrical & Computer Engineering, Concordia University)
and Alan Robins (Canadair). From August 1, 1995 till July 31, 1998, for:
first year, $88K; second year, $145K; third year, $121K.
- FCAR Team Grant: "Conception et commande de robots manipulateurs -
architecture bi-triangulaire' (Principal Investigator, J. Angeles; other
researchers: P. J. Zsombor-Murray and M. Buehler), $34K/yr. (1995--98).
Additionally, the team received a $12.45K equipment grant.