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Journal Articles

FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning

Suraj Borate, Rwik Rana, Praveen Venkatesh, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104502.
Paper No: JMR-23-1444
https://doi.org/10.1115/1.4066129
Published Online: September 2, 2024
View Article titled, FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning
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Topics: Algorithms, Collisions (Physics), Multi-robot systems, Path planning, Robots
Journal Articles

Series Clutched Actuation for Collision-Tolerant High-Speed Robots

Frederik Ostyn, Bram Vanderborght, Guillaume Crevecoeur
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121008.
Paper No: JMR-23-1250
https://doi.org/10.1115/1.4065235
Published Online: April 23, 2024
View Article titled, Series Clutched Actuation for Collision-Tolerant High-Speed Robots
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Topics: Collisions (Physics), Robots, Torque
Journal Articles

Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control

Yiqun Li, Jiahui Gao, Kai Chen, Wei Chen, Zhouping Yin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061014.
Paper No: JMR-23-1243
https://doi.org/10.1115/1.4063871
Published Online: November 14, 2023
View Article titled, Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control
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Topics: Collisions (Physics), Optimization, Robots, Trajectories (Physics), Wheels, Stairs, D'Alembert's principle
Journal Articles

Data-Driven Dynamics Modeling and Control Strategy for a Planar n -DOF Cable-Driven Parallel Robot Driven by n + 1 Cables Allowing Collisions

Genyuan Xu, Haoda Zhu, Hao Xiong, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051008.
Paper No: JMR-23-1035
https://doi.org/10.1115/1.4062792
Published Online: July 20, 2023
View Article titled, Data-Driven Dynamics Modeling and Control Strategy for a Planar n -DOF Cable-Driven Parallel Robot Driven by n + 1 Cables Allowing Collisions
Open the PDF for Data-Driven Dynamics Modeling and Control Strategy for a Planar n -DOF Cable-Driven Parallel Robot Driven by n + 1 Cables Allowing Collisions in another window
Topics: Cables, Collisions (Physics), Dynamics (Mechanics), End effectors, Robots, Modeling, Tension
Journal Articles

Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles

Yiyu Chen, Lingchen Lian, Yu-Hsiu Hsieh, Quan Nguyen, Satyandra K. Gupta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051002.
Paper No: JMR-22-1230
https://doi.org/10.1115/1.4055625
Published Online: November 24, 2022
View Article titled, Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles
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Topics: Robots, Safety, Collisions (Physics), Trajectories (Physics), Simulation
Journal Articles

Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact

Jiayin Xie, Nilanjan Chakraborty
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041001.
Paper No: JMR-20-1012
https://doi.org/10.1115/1.4049877
Published Online: April 9, 2021
View Article titled, Modeling and Prediction of Rigid Body Motion With Planar Non-Convex Contact
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Topics: Equations of motion, Friction, Hull, Modeling, Simulation, Dynamic models, Rigid-body mechanisms, Collisions (Physics), Impulse (Physics), Kinematics
Journal Articles

Mitigating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots

Jesse J. Rond, Michael C. Cardani, Matthew I. Campbell, Jonathan W. Hurst
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051010.
Paper No: JMR-19-1271
https://doi.org/10.1115/1.4046834
Published Online: May 11, 2020
View Article titled, Mitigating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots
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Topics: Collisions (Physics), Compression, Dampers, Damping, Design, Dynamics (Mechanics), Robots, Springs, Stiffness, Vibration
Journal Articles

Efficient Collision Detection Method for Flexure Mechanisms Comprising Deflected Leafsprings

M. Naves, R. G. K. M. Aarts, D. M. Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061012.
Paper No: JMR-18-1047
https://doi.org/10.1115/1.4041484
Published Online: October 1, 2018
View Article titled, Efficient Collision Detection Method for Flexure Mechanisms Comprising Deflected Leafsprings
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Topics: Collisions (Physics), Geometry, Flexure mechanisms
Journal Articles

Development of n -DoF Preloaded Structures for Impact Mitigation in Cobots

S. Seriani, P. Gallina, L. Scalera, V. Lughi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2018, 10(5): 051009.
Paper No: JMR-17-1395
https://doi.org/10.1115/1.4040632
Published Online: July 18, 2018
View Article titled, Development of n -DoF Preloaded Structures for Impact Mitigation in Cobots
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Topics: Approximation, Cables, Collisions (Physics), Engineering prototypes, Errors, Robotics, Robots, Springs, Stiffness, Elasticity
Journal Articles

Optimal Paths for Polygonal Robots in SE(2)

Monroe Kennedy, III, Dinesh Thakur, M. Ani Hsieh, Subhrajit Bhattacharya, Vijay Kumar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021005.
Paper No: JMR-17-1313
https://doi.org/10.1115/1.4038980
Published Online: February 1, 2018
View Article titled, Optimal Paths for Polygonal Robots in SE(2)
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Topics: Algorithms, Robots, Trajectories (Physics), Vacuum, Chords (Trusses), Hull, Collisions (Physics), Optimization
Journal Articles

Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

Jingchen Hu, Tianshu Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031010.
Paper No: JMR-16-1192
https://doi.org/10.1115/1.4035373
Published Online: March 23, 2017
View Article titled, Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization
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Topics: Impulse (Physics), Manipulators, Robots, Inertia (Mechanics), Design, Dynamic models, Eigenvalues, Collisions (Physics)
Journal Articles

Single Degree-of-Freedom Rigidly Foldable Cut Origami Flashers

Robert J. Lang, Spencer Magleby, Larry Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2016, 8(3): 031005.
Paper No: JMR-15-1166
https://doi.org/10.1115/1.4032102
Published Online: March 7, 2016
View Article titled, Single Degree-of-Freedom Rigidly Foldable Cut Origami Flashers
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Topics: Collisions (Physics), Degrees of freedom, Design, Hinges, Manufacturing, Cutting
Journal Articles

On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems

Nima Najmaei, Mehrdad R. Kermani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041008.
https://doi.org/10.1115/1.4002345
Published Online: September 30, 2010
View Article titled, On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems
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Topics: Manipulators, Modeling, Path planning, Risk assessment, Robots, Safety, Shapes, Collisions (Physics), Human-robot interaction, Robotics