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Journal Articles

Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators

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Md Modassir Firdaus, Omkar Dilip Paranjape, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101013.
Paper No: JMR-23-1401
https://doi.org/10.1115/1.4064669
Published Online: March 5, 2024
View Articletitled, Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators
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Topics: Displacement, Manipulators, Shapes, Tendons, Tension, Steady state, Dynamic models, Damping
Journal Articles

A Dynamical Model for the Control of a Guyed Tensegrity Beam Under Large Displacements

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Paulo R. G. Kurka, Victor A. S. M. Paiva, Luis H. Silva-Teixeira, Paola G. Ramos, Jaime H. Izuka
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091004.
Paper No: JMR-23-1476
https://doi.org/10.1115/1.4064259
Published Online: February 1, 2024
View Articletitled, A Dynamical Model for the Control of a Guyed Tensegrity Beam Under Large Displacements
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Topics: Cables, Damping, Stress, Tensegrity, Tensegrity structures, Stiffness, Deformation
Journal Articles

Dual Quaternions Representation of Lagrange's Dynamic Equations

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Avraham Cohen, Benjamin Taub, Moshe Shoham
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041004.
Paper No: JMR-22-1244
https://doi.org/10.1115/1.4062463
Published Online: June 5, 2023
View Articletitled, Dual Quaternions Representation of Lagrange's Dynamic Equations
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Topics: Energy dissipation, Equations of motion, Manipulators, Robots, Damping, Dynamics (Mechanics)
Journal Articles

Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism

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Fanyi Guo, Zhili Sun, Shengnan Zhang, Runan Cao, Haiyang Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061007.
Paper No: JMR-22-1417
https://doi.org/10.1115/1.4056376
Published Online: January 17, 2023
View Articletitled, Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
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Topics: Damping, Stiffness, Displacement, Event history analysis, Excitation, Optimization, Failure, Probability, Reliability, Frequency response
Journal Articles

Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

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Carlos Saldarriaga, Imin Kao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051010.
Paper No: JMR-22-1144
https://doi.org/10.1115/1.4055966
Published Online: November 25, 2022
View Articletitled, Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
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Topics: Equilibrium (Physics), Robots, Steady state, Damping, Dynamic response, Redundant manipulators, Stiffness, Displacement
Journal Articles

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

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Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054502.
Paper No: JMR-22-1110
https://doi.org/10.1115/1.4055999
Published Online: November 25, 2022
View Articletitled, Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
Open the PDF for Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum in another window
Topics: Deformation, Dynamics (Mechanics), Inertia (Mechanics), Pendulums, Stiffness, Potential energy, Rotation, Springs, Damping, Dampers
Journal Articles

Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees

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V. N. Murthy Arelekatti, Nina T. Petelina, W. Brett Johnson, Matthew J. Major, Amos G. Winter V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031011.
Paper No: JMR-21-1003
https://doi.org/10.1115/1.4052804
Published Online: November 18, 2021
View Articletitled, Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees
Open the PDF for Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees in another window
Topics: Artificial limbs, Dampers, Damping, Design, Knee, Stability
Journal Articles

Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System

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Liwei Ni, Fangwu Ma, Linhe Ge, Liang Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011014.
Paper No: JMR-19-1488
https://doi.org/10.1115/1.4048226
Published Online: October 22, 2020
View Articletitled, Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System
Open the PDF for Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System in another window
Topics: Actuators, Damping, Design, Robots, Simulation, Suspension systems, Wheels, Springs, Control equipment, Vibration isolation
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

Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots

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Loïc Cuvillon, Xavier Weber, Jacques Gangloff
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051004.
Paper No: JMR-19-1330
https://doi.org/10.1115/1.4046434
Published Online: March 9, 2020
View Articletitled, Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots
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Topics: Cables, Control equipment, Damping, Dynamics (Mechanics), End effectors, Gain scheduling, Robots, Trajectories (Physics), Vibration, Equilibrium (Physics)
Journal Articles

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

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Sambad Regmi, Yun Seong Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041002.
Paper No: JMR-19-1380
https://doi.org/10.1115/1.4045688
Published Online: March 6, 2020
View Articletitled, Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks
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Topics: Design, Design methodology, Kinematics, Manipulators, Motors, Robotics, Robots, Dynamics (Mechanics), End effectors, Damping
Journal Articles

The Concurrent Control of Motion and Contact Force in the Presence of Predictable Disturbances

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Davide Piovesan, Maxim Kolesnikov, Kevin Lynch, Ferdinando A. Mussa-Ivaldi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060903.
Paper No: JMR-19-1076
https://doi.org/10.1115/1.4044599
Published Online: September 11, 2019
View Articletitled, The Concurrent Control of Motion and Contact Force in the Presence of Predictable Disturbances
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Topics: Stiffness, Errors, Damping
Journal Articles

Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds

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Yevgeniy Yesilevskiy, Zhenyu Gan, C. David Remy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031008.
Paper No: JMR-17-1063
https://doi.org/10.1115/1.4039496
Published Online: April 5, 2018
View Articletitled, Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds
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Topics: Actuators, Engines, Friction, Mechanical drives, Motors, Seas, Springs, Optimization, Robots, Damping
Journal Articles

Tuning of a Rigid-Body Dynamics Model of a Flapping Wing Structure With Compliant Joints

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Joseph Calogero, Mary Frecker, Zohaib Hasnain, James E. Hubbard, Jr.
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011007.
Paper No: JMR-17-1195
https://doi.org/10.1115/1.4038441
Published Online: December 20, 2017
View Articletitled, Tuning of a Rigid-Body Dynamics Model of a Flapping Wing Structure With Compliant Joints
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Topics: Compliant mechanisms, Dynamics (Mechanics), Kinematics, Spar platforms, Stiffness, Wing spars, Wings, Damping, Cycles
Journal Articles

Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions

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Juan De la Fuente, Thomas G. Sugar, Sangram Redkar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2017, 9(2): 024502.
Paper No: JMR-16-1296
https://doi.org/10.1115/1.4036023
Published Online: March 9, 2017
View Articletitled, Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions
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Topics: Control equipment, Limit cycles, Noise (Sound), Oscillations, Pendulums, Simulation, Damping, Trajectories (Physics), Signals, Robots
Journal Articles

Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet

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Landen Bowen, Kara Springsteen, Saad Ahmed, Erika Arrojado, Mary Frecker, Timothy W. Simpson, Zoubeida Ounaies, Paris von Lockette
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021012.
Paper No: JMR-16-1315
https://doi.org/10.1115/1.4035966
Published Online: March 9, 2017
View Articletitled, Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet
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Topics: Actuators, Approximation, Design, Dynamic models, Manufacturing, Modeling, Plasma desorption mass spectrometry, Stiffness, Dynamic modeling, Active materials
Journal Articles

Steinkamp's Toy Can Hop 100 Times But Can't Stand Up

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Gregg Stiesberg, Tim van Oijen, Andy Ruina
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2017, 9(1): 011017.
Paper No: JMR-16-1265
https://doi.org/10.1115/1.4035337
Published Online: January 13, 2017
View Articletitled, Steinkamp's Toy Can Hop 100 Times But Can't Stand Up
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Topics: Eigenvalues, Simulation, Springs, Stability, Damping, Limit cycles, Engineering simulation, Robots
Includes: Supplementary data
Journal Articles

Design for Control of Wheeled Inverted Pendulum Platforms

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Hari Vasudevan, Aaron M. Dollar, John B. Morrell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041005.
Paper No: JMR-13-1162
https://doi.org/10.1115/1.4029401
Published Online: November 1, 2015
View Articletitled, Design for Control of Wheeled Inverted Pendulum Platforms
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Topics: Design, Limit cycles, Motors, Simulation, Tires, Wheels, Pendulums, Damping, Torque
Journal Articles

Limit Cycles to Enhance Human Performance Based on Phase Oscillators

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Thomas G. Sugar, Andrew Bates, Matthew Holgate, Jason Kerestes, Marc Mignolet, Philip New, Ragesh K. Ramachandran, Sangram Redkar, Chase Wheeler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011001.
Paper No: JMR-14-1243
https://doi.org/10.1115/1.4029336
Published Online: February 1, 2015
View Articletitled, Limit Cycles to Enhance Human Performance Based on Phase Oscillators
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Topics: Control equipment, Limit cycles, Robots, Damping, Exoskeleton devices, Torque, Signals, Energy harvesting
Journal Articles

Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting

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Rafael E. Vasquez, Carl D. Crane,, III, Julio C. Correa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2014, 6(3): 031015.
Paper No: JMR-13-1214
https://doi.org/10.1115/1.4027703
Published Online: June 17, 2014
View Articletitled, Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting
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Topics: Tensegrity mechanisms, Wave energy, Waves, Tensegrity, Equations of motion, Damping