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Journal Articles

Control of Pneumatic Artificial Muscle actuated Two DOF Robot Using PD Based PWM Strategy with Feed Forward Outer Control Loop

Sushant Maurya, Ashish Dutta

J. Mechanisms Robotics.

Paper No: JMR-22-1128

DOI: https://doi.org/10.1115/1.4062212

Published Online: March 24, 2023

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Topics: Design, Feedforward control, Muscle, Robots, Pressure, Control equipment, Pneumatic control valves, Circuits, Degrees of freedom, Dynamics (Mechanics)

Journal Articles

Dynamics modeling and modal space control strategy of ship-borne Stewart platform for wave compensation

Weixing Chen, Wen Yu, Tong Xiaochuan, Lin Chaoxiong, Li Jiang, Wang Shuyou, Xie Wei, Mao Lifeng, Xian Chao Zhao, Weidong Zhang, Feng Gao

J. Mechanisms Robotics.

Paper No: JMR-23-1023

DOI: https://doi.org/10.1115/1.4062177

Published Online: March 21, 2023

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Topics: Dynamics (Mechanics), Modeling, Ships, Waves, Control equipment, Inertia (Mechanics), Actuators, Dynamic models, Engineering simulation, Gravity (Force)

Journal Articles

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

Hyunjong Song, William Z. Peng, Joo H. Kim

J. Mechanisms Robotics. January 2024, 16(1): 011005.

Paper No: JMR-22-1508

DOI: https://doi.org/10.1115/1.4056956

Published Online: March 8, 2023

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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction

Journal Articles

Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems

Jason Bettega, Dario Richiedei, Iacopo Tamellin, Alberto Trevisani

J. Mechanisms Robotics. June 2023, 15(3): 031002.

Paper No: JMR-22-1261

DOI: https://doi.org/10.1115/1.4056437

Published Online: January 25, 2023

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Topics: Dynamics (Mechanics), Feedforward control, Errors

Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu

J. Mechanisms Robotics. December 2023, 15(6): 061014.

Paper No: JMR-22-1409

DOI: https://doi.org/10.1115/1.4056577

Published Online: January 23, 2023

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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control

Journal Articles

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

Sunil Gora, Shakti S. Gupta, Ashish Dutta

J. Mechanisms Robotics. October 2023, 15(5): 054502.

Paper No: JMR-22-1110

DOI: https://doi.org/10.1115/1.4055999

Published Online: November 25, 2022

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Topics: Deformation, Dynamics (Mechanics), Inertia (Mechanics), Pendulums, Stiffness, Potential energy, Rotation, Springs, Damping, Dampers

Journal Articles

A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress

Jinlu Ni, Jiangping Mei, Yabin Ding, Dongxing Yu, Yunrui Duan, Yuxin Le

J. Mechanisms Robotics. August 2023, 15(4): 041012.

Paper No: JMR-22-1126

DOI: https://doi.org/10.1115/1.4055571

Published Online: November 14, 2022

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Topics: Dynamics (Mechanics), Robots, Stress, Trajectories (Physics), Kinematics, Deformation, B-splines

Journal Articles

A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

Wenqian Du, Mohamed Fnadi, Faïz Benamar

J. Mechanisms Robotics. August 2023, 15(4): 041005.

Paper No: JMR-22-1146

DOI: https://doi.org/10.1115/1.4055060

Published Online: November 10, 2022

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Topics: Control equipment, Dynamics (Mechanics), Generators, Robots, Torque, Wheels, Kinematics, Surface roughness, Geometry

Journal Articles

Dyno-Kinematic Leg Design for High Energy Robotic Locomotion

Max Austin, Jason Brown, John Nicholson, Jonathan Clark

J. Mechanisms Robotics. June 2023, 15(3): 031001.

Paper No: JMR-22-1264

DOI: https://doi.org/10.1115/1.4055998

Published Online: November 8, 2022

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Topics: Design, Dynamics (Mechanics), Kinematics, Robots, Motors, Simulation, Linkages, Torque

Journal Articles

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Frederico Fernandes Afonso Silva, Juan José Quiroz-Omaña, Bruno Vilhena Adorno

J. Mechanisms Robotics. December 2022, 14(6): 061005.

Paper No: JMR-21-1398

DOI: https://doi.org/10.1115/1.4054320

Published Online: September 14, 2022

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Topics: Algebra, Algorithms, Manipulators, Robots, Robotics, Simulation, Dynamics (Mechanics)

Journal Articles

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Gustavo A. Medrano-Cerda

J. Mechanisms Robotics. October 2022, 14(5): 055501.

Paper No: JMR-20-1032

DOI: https://doi.org/10.1115/1.4049005

Published Online: August 9, 2022

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Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms

Journal Articles

Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains

T. H. Fass, Guangbo Hao, Pádraig Cantillon-Murphy

J. Mechanisms Robotics. December 2022, 14(6): 060911.

Paper No: JMR-21-1674

DOI: https://doi.org/10.1115/1.4054311

Published Online: June 6, 2022

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Topics: Chain, Dynamics (Mechanics), Computation, Algorithms

Journal Articles

Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots

Jianqing Peng, Haoxuan Wu, Darwin Lau

J. Mechanisms Robotics. February 2023, 15(1): 011013.

Paper No: JMR-22-1005

DOI: https://doi.org/10.1115/1.4054634

Published Online: June 6, 2022

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Topics: Cables, Dynamics (Mechanics), Iterative learning control, Trajectories (Physics), Errors, Robots

Journal Articles

Three-Dimensional Dynamic Modeling and Analysis of Flexible Robot With Coupling Deformation Based on Spinor Theory

Fuli Zhang, Zhaohui Yuan, Jianrui Zhang

J. Mechanisms Robotics. February 2023, 15(1): 011010.

Paper No: JMR-21-1512

DOI: https://doi.org/10.1115/1.4054331

Published Online: May 2, 2022

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Topics: Deformation, Flexible manipulators, Robots, Manipulators, Dynamics (Mechanics)

Journal Articles

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

A. T. Markus, M. R. Sobczyk, E. A. Perondi

J. Mechanisms Robotics. February 2023, 15(1): 011002.

Paper No: JMR-21-1596

DOI: https://doi.org/10.1115/1.4054084

Published Online: April 25, 2022

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Topics: Actuators, Artificial limbs, Dynamics (Mechanics), Errors, Muscle, Pressure, Prostheses, Simulation, Valves, Control equipment

Journal Articles

Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets

Chong Zhao, Ke Wang, Haifeng Zhao, Hongwei Guo, Rongqiang Liu

J. Mechanisms Robotics. December 2022, 14(6): 060902.

Paper No: JMR-21-1670

DOI: https://doi.org/10.1115/1.4054245

Published Online: April 21, 2022

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Topics: Dynamics (Mechanics), Jacobian matrices, Kinematics, Manipulators, Deformation

Journal Articles

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

Dongming Gan, Jiaming Fu, Han Lin, Haoguang Yang, Mo Rastgaar, Byung-Cheol Min, Richard Voyles

J. Mechanisms Robotics. August 2022, 14(4): 041005.

Paper No: JMR-21-1535

DOI: https://doi.org/10.1115/1.4053821

Published Online: March 24, 2022

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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Mobile robots, Robots, Wheels, Actuators, Rotation, Parallel mechanisms

Journal Articles

Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept

Jorge Esteban Salas Gordoniz, Nicolas Reeves, David St-Onge

J. Mechanisms Robotics. August 2022, 14(4): 041004.

Paper No: JMR-21-1536

DOI: https://doi.org/10.1115/1.4053926

Published Online: March 7, 2022

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Topics: Design, Drag (Fluid dynamics), Dynamics (Mechanics), Exoskeleton devices, Yaw, Simulation, Equations of motion, Shapes, Kinematics, Buoyancy

Journal Articles

Performance Simulation and Energetic Analysis of TBot High-Speed Cable-Driven Parallel Robot

Jinhao Duan, Zhufeng Shao, Zhaokun Zhang, Fazhong Peng

J. Mechanisms Robotics. April 2022, 14(2): 024504.

Paper No: JMR-20-1626

DOI: https://doi.org/10.1115/1.4052322

Published Online: September 20, 2021

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Topics: Cables, Energy consumption, Robots, Simulation, Springs, Stiffness, Trajectories (Physics), Torque, Kinematics, Dynamics (Mechanics)

Journal Articles

Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots

Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Ji Man Park, Chunghyuk Kang, Yoon Haeng Lee, Yong Bum Kim, Hyouk Ryeol Choi

J. Mechanisms Robotics. October 2021, 13(5): 050910.

Paper No: JMR-21-1013

DOI: https://doi.org/10.1115/1.4051356

Published Online: July 6, 2021

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Topics: Center of mass, Control equipment, Feedforward control, Robots, Torque, Dynamics (Mechanics), Feedback, Trajectories (Physics)

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Journal citation

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Supplemental Material

Manuscript

Control of Pneumatic Artificial Muscle actuated Two DOF Robot Using PD Based PWM Strategy with Feed Forward Outer Control Loop

Dynamics modeling and modal space control strategy of ship-borne Stewart platform for wave compensation

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress

A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

Dyno-Kinematic Leg Design for High Energy Robotic Locomotion

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains

Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots

Three-Dimensional Dynamic Modeling and Analysis of Flexible Robot With Coupling Deformation Based on Spinor Theory

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept

Performance Simulation and Energetic Analysis of TBot High-Speed Cable-Driven Parallel Robot

Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots

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