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Journal Articles

Design and Control of a Piezo-Driven z - θ x - θ y Parallel Nanopositioning Stage With Two-Stage Rhombic Amplification Structure

Available to Purchase
Shengdian Zhang, Yuguo Cui, Yiling Yang, Keke Dong, Qifang Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091010.
Paper No: JMR-24-1511
https://doi.org/10.1115/1.4068477
Published Online: May 7, 2025
View Articletitled, Design and Control of a Piezo-Driven z - θ x - θ y Parallel Nanopositioning Stage With Two-Stage Rhombic Amplification Structure
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Topics: Control equipment, Design, Displacement, Feedforward control, Modeling, Optimization, Finite element analysis, Dynamic response, Resolution (Optics), Errors
Journal Articles

Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

Available to Purchase
Kendall Koe, Samhita Marri, Benjamin Walt, Shivani Kamtikar, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071010.
Paper No: JMR-24-1069
https://doi.org/10.1115/1.4067872
Published Online: February 27, 2025
View Articletitled, Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator
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Topics: Control equipment, Dynamics (Mechanics), End effectors, Errors, Manipulators, Stress, Trajectories (Physics), Optimization, Robotics, Architecture
Journal Articles

Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction

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Sen Qian, Changqi Li, Zeyao Zhao, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061002.
Paper No: JMR-24-1340
https://doi.org/10.1115/1.4067022
Published Online: November 22, 2024
View Articletitled, Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction
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Topics: Additive manufacturing, Cables, Construction, End effectors, Errors, Gravity (Force), Kinematics, Motion control, Path planning, Printing
Journal Articles

Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter

Available to Purchase
Eeshan Kulkarni, Suresh Sundaram
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061003.
Paper No: JMR-24-1239
https://doi.org/10.1115/1.4067068
Published Online: November 22, 2024
View Articletitled, Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter
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Topics: Control equipment, Design, Dynamics (Mechanics), Flight, Mechanical drives, Motors, Propellers, Servomotors, Weight (Mass), Torque
Journal Articles

Cooperative Object Transport Via Non-Contact Prehensile Pushing by Magnetic Forces

Available to Purchase
Halil İbrahim Dokuyucu, Nurhan Gürsel Özmen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051004.
Paper No: JMR-24-1052
https://doi.org/10.1115/1.4066804
Published Online: November 1, 2024
View Articletitled, Cooperative Object Transport Via Non-Contact Prehensile Pushing by Magnetic Forces
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Topics: Magnetic fields, Robots, Control equipment, Simulation, Transportation systems, Wheels, Shapes
Journal Articles

Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot

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Alberto Rigo, Muqun Hu, Junchao Ma, Satyandra K. Gupta, Quan Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051006.
Paper No: JMR-24-1144
https://doi.org/10.1115/1.4066852
Published Online: November 1, 2024
View Articletitled, Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot
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Topics: Control equipment, Design, Optimization, Quadruped robots, Robotics, Robots, Degrees of freedom, Manipulators, Doors, Weight (Mass)
Journal Articles

Push Recovery of a Biped in Different Stance Scenarios

Available to Purchase
Alinjar Dan, S. K. Saha, K. Rama Krishna, Amit Sawant, Gurman Singh Bhullar, Tarannum Perween
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031015.
Paper No: JMR-23-1394
https://doi.org/10.1115/1.4066443
Published Online: October 25, 2024
View Articletitled, Push Recovery of a Biped in Different Stance Scenarios
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Topics: Angular momentum, Control equipment, Hardware, Linear momentum, Momentum, Optimization, Robots, Stability, Impulse (Physics), Torque control
Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Available to Purchase
Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
View Articletitled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

Available to Purchase
A. Ghoul, S. Djeffal, H. Wang, K. Kara, M. L. Hadjili
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021002.
Paper No: JMR-23-1749
https://doi.org/10.1115/1.4065698
Published Online: July 19, 2024
View Articletitled, Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots
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Topics: Cables, Robots, Control equipment, Dynamic models, Kinematics
Journal Articles

An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations

Available to Purchase
Michele Angelini, Edoardo Ida’, Daniele Bertin, Enrico Mantovani, Davide Bazzi, Vincenzo Orassi, Marco Carricato
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010906.
Paper No: JMR-23-1601
https://doi.org/10.1115/1.4065394
Published Online: June 17, 2024
View Articletitled, An Underactuated Cable-Driven Parallel Robot for Marine Automated Launch and Recovery Operations
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Topics: Cables, Control equipment, Robots, Simulation, Vessels
Journal Articles

Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots

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Jer Luen Chien, Clarissa Leong, Jingmin Liu, Shaohui Foong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121011.
Paper No: JMR-23-1648
https://doi.org/10.1115/1.4065370
Published Online: May 21, 2024
View Articletitled, Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots
Open the PDF for Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots in another window
Topics: Friction, Robots, Tendons, Control equipment, Shapes
Journal Articles

Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger

Available to Purchase
Runming Zhang, Xuechao Chen, Yu Zhang, Zhangguo Yu, Qiang Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124501.
Paper No: JMR-23-1321
https://doi.org/10.1115/1.4065024
Published Online: March 29, 2024
View Articletitled, Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger
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Topics: Algorithms, Control equipment, Cycles, Feedback, Humanoid robots, Modeling, Robots, Center of mass, Robot motion
Journal Articles

Load-Side Dynamics Introduces Complex Effects on Orthotic Actuator Performance in Benchmarking

Open Access
Mingrui Sun, Denny Oetomo, Ying Tan, Dana Kulić, Tomislav Baček
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051012.
Paper No: JMR-23-1688
https://doi.org/10.1115/1.4067431
Published Online: February 10, 2024
View Articletitled, Load-Side Dynamics Introduces Complex Effects on Orthotic Actuator Performance in Benchmarking
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Topics: Actuators, Motors, Stiffness, Stress, Torque, Engines, Design, Springs, Control equipment, Knee
Journal Articles

Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction

Available to Purchase
Yongfeng Rong, Wusheng Chou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071001.
Paper No: JMR-23-1182
https://doi.org/10.1115/1.4063368
Published Online: October 13, 2023
View Articletitled, Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction
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Topics: Design, Dynamics (Mechanics), Manipulators, Control equipment, Unmanned aerial vehicles, Actuators
Journal Articles

Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

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Weixing Chen, Yu Wen, Xiaochuan Tong, Chaoxiong Lin, Jiang Li, Shuyou Wang, Wei Xie, Lifeng Mao, Xianchao Zhao, Weidong Zhang, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041015.
Paper No: JMR-23-1023
https://doi.org/10.1115/1.4062177
Published Online: May 2, 2023
View Articletitled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
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Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
Journal Articles

Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots

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Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031010.
Paper No: JMR-22-1294
https://doi.org/10.1115/1.4062273
Published Online: April 21, 2023
View Articletitled, Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots
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Topics: Calibration, Control equipment, Design, Grippers, Humanoid robots, Pressure, Trajectories (Physics), Stress, Robots, Weight (Mass)
Journal Articles

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

Available to Purchase
Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031008.
Paper No: JMR-22-1128
https://doi.org/10.1115/1.4062212
Published Online: April 10, 2023
View Articletitled, Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
Open the PDF for Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop in another window
Topics: Control equipment, Degrees of freedom, Design, Dynamics (Mechanics), Feedforward control, Manipulators, Muscle, Pressure, Robots, Valves
Journal Articles

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

Free
Hyunjong Song, William Z. Peng, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011005.
Paper No: JMR-22-1508
https://doi.org/10.1115/1.4056956
Published Online: March 8, 2023
View Articletitled, Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction
Journal Articles

Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo

Available to Purchase
Hadi Yadavari, Vahid Tavakol Aghaei, Serhat İkizoğlu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035001.
Paper No: JMR-22-1256
https://doi.org/10.1115/1.4056971
Published Online: March 3, 2023
View Articletitled, Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo
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Topics: Algorithms, Control equipment, Kinematics, Reinforcement learning, Robots, Simulation
Journal Articles

Robust Attitude Controller Design for an Uncommon Quadrotor With Big and Small Tilt Rotors

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Mehmet Baskın, Kemal Leblebicioğlu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031003.
Paper No: JMR-22-1168
https://doi.org/10.1115/1.4056826
Published Online: February 21, 2023
View Articletitled, Robust Attitude Controller Design for an Uncommon Quadrotor With Big and Small Tilt Rotors
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Topics: Control equipment, Design, Robust control, Rotors, Uncertainty, Flight, Yaw