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Journal Articles

Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions

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Wei Wang, Jiahao Zhao, Yuan Li, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091011.
Paper No: JMR-25-1074
https://doi.org/10.1115/1.4068530
Published Online: May 7, 2025
View Articletitled, Kinematic Modeling and Workspace Analysis of a Cable-Driven Parallel Robot Considering Environmental Collisions
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Topics: Cables, Collisions (Physics), Kinematics, Robots, Cylinders
Journal Articles

Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing

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Andrew L. Chang, Ivonne Munoz, Christopher Sanchez, Leopoldo Sanchez IV, Christopher L. Lee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044506.
Paper No: JMR-24-1434
https://doi.org/10.1115/1.4066925
Published Online: November 6, 2024
View Articletitled, Origami-Inspired Collapsible Structures for Small Rotorcraft Collision Resilience and Landing
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Topics: Collisions (Physics), Gears, Kinetic energy, Origami-inspired design, Resilience, Rotorcraft, Stiffness, Testing, Flight, Design
Journal Articles

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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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)

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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

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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 Articletitled, 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