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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

Kinetic Analysis of Active Omni Wheel With Barrel-Shaped Rollers for Avoiding Slippage and Vibration

Siying Long, Tatsuro Terakawa, Mahiro Yogou, Rintaro Koyano, Masaharu Komori
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051002.
Paper No: JMR-23-1080
https://doi.org/10.1115/1.4062608
Published Online: June 9, 2023
View Article titled, Kinetic Analysis of Active Omni Wheel With Barrel-Shaped Rollers for Avoiding Slippage and Vibration
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Topics: Rollers, Wheels, Vibration, Rubber, Simulation results
Journal Articles

A Novel Transformable Leg-Wheel Mechanism

Zhong Wei, Peng Ping, Yong Luo, Jia Liu, Dapeng Chen, Weixi Wang, Huiyu Sun, Aiguo Song, Guangming Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031008.
Paper No: JMR-22-1164
https://doi.org/10.1115/1.4057069
Published Online: March 28, 2023
View Article titled, A Novel Transformable Leg-Wheel Mechanism
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Topics: Design, Knee, Simulation, Trajectories (Physics), Wheels, Legged locomotion, Robots, Kinematics, Actuators, Modeling
Journal Articles

Self-Adaptive Obstacle Crossing of an AntiBot From Reconfiguration Control and Mechanical Adaptation

Zhen Song, Zirong Luo, Guowu Wei, Jianzhong Shang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021002.
Paper No: JMR-22-1311
https://doi.org/10.1115/1.4056601
Published Online: March 3, 2023
View Article titled, Self-Adaptive Obstacle Crossing of an AntiBot From Reconfiguration Control and Mechanical Adaptation
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Topics: Robots, Wheels
Journal Articles

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011002.
Paper No: JMR-22-1436
https://doi.org/10.1115/1.4056711
Published Online: March 3, 2023
View Article titled, “On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion
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Topics: Design, Robots, Wheels, Torque, Kinematics
Journal Articles

WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability

Luca Bruzzone, Shahab Edin Nodehi, Dario De Domenico, Pietro Fanghella
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021007.
Paper No: JMR-22-1232
https://doi.org/10.1115/1.4056770
Published Online: March 3, 2023
View Article titled, WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability
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Topics: Robots, Wheels, Stability, Stairs
Journal Articles

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

Wenqian Du, Mohamed Fnadi, Faïz Benamar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041005.
Paper No: JMR-22-1146
https://doi.org/10.1115/1.4055060
Published Online: November 10, 2022
View Article titled, A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot
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Topics: Control equipment, Dynamics (Mechanics), Generators, Robots, Torque, Wheels, Kinematics, Surface roughness, Geometry
Journal Articles

Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase

Chenyang Zhang, Guangrong Chen, Zijia Li, Xiaohang Qiu, Sheng Guo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2023, 15(2): 024501.
Paper No: JMR-21-1681
https://doi.org/10.1115/1.4054616
Published Online: June 21, 2022
View Article titled, Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase
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Topics: Vehicles, Wheelbase, Design, Wheels, Steering wheels, Simulation, Kinematics
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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041005.
Paper No: JMR-21-1535
https://doi.org/10.1115/1.4053821
Published Online: March 24, 2022
View Article titled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Mobile robots, Robots, Wheels, Actuators, Rotation, Parallel mechanisms
Journal Articles

A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms

Zhen Song, Zirong Luo, Guowu Wei, Jianzhong Shang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051010.
Paper No: JMR-21-1482
https://doi.org/10.1115/1.4053529
Published Online: March 4, 2022
View Article titled, A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms
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Topics: Robots, Wheels, Mobile robots
Journal Articles

Cosimulation and Control of a Single-Wheel Pendulum Mobile Robot

Mario E. Herrera-Cordero, Manuel Arias-Montiel, Marco Ceccarelli, Esther Lugo-Gonzalez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050909.
Paper No: JMR-21-1128
https://doi.org/10.1115/1.4051359
Published Online: July 6, 2021
View Article titled, Cosimulation and Control of a Single-Wheel Pendulum Mobile Robot
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Topics: Design, Engineering prototypes, Mobile robots, Pendulums, Robots, Wheels, Transfer functions, Torque, Dynamics (Mechanics)
Journal Articles

Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments

Antonio Cardenas, Osmar Quiroz, Ricardo Hernández, Hugo I. Medellin-Castillo, Alejandro González, Mauro Maya, Davide Piovesan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050908.
Paper No: JMR-21-1042
https://doi.org/10.1115/1.4051437
Published Online: July 6, 2021
View Article titled, Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments
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Topics: Kinematics, Manipulators, Mobile robots, Robots, Trajectories (Physics), Wheels, Pallets, Degrees of freedom, Robotics
Journal Articles

Design of Robotic Motion Platform Utilizing Continuous Contact Skating

Rajesh Kumar, Varan Gupta, Shantnav Agarwal, Jitendra P. Khatait
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061009.
Paper No: JMR-20-1427
https://doi.org/10.1115/1.4050827
Published Online: June 4, 2021
View Article titled, Design of Robotic Motion Platform Utilizing Continuous Contact Skating
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Topics: Creep, Design, Engineering prototypes, Kinematics, Matlab, Robotics, Robots, Rollers, Simulation, Wheels
Journal Articles

Genetic Algorithm-Based Optimal Design of a Rolling-Flying Vehicle

Tyler Jenkins, Stefan Atay, Gregory Buckner, Matthew Bryant
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2021, 13(5): 050907.
Paper No: JMR-20-1478
https://doi.org/10.1115/1.4050811
Published Online: June 3, 2021
View Article titled, Genetic Algorithm-Based Optimal Design of a Rolling-Flying Vehicle
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Topics: Design, Motors, Propellers, Vehicles, Batteries, Engines, Rotors, Wheels
Journal Articles

A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

Chao Liu, Tarik Tosun, Mark Yim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061004.
Paper No: JMR-20-1210
https://doi.org/10.1115/1.4050249
Published Online: May 31, 2021
View Article titled, A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots
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Topics: Kalman filters, Sensors, Wheels, Robots, Manufacturing
Journal Articles

Data-Driven Analysis of Locomotion for a Class of Articulated Mobile Robots

Luca Carbonari, Andrea Botta, Paride Cavallone, Luigi Tagliavini, Giuseppe Quaglia
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050905.
Paper No: JMR-21-1063
https://doi.org/10.1115/1.4051018
Published Online: May 19, 2021
View Article titled, Data-Driven Analysis of Locomotion for a Class of Articulated Mobile Robots
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Topics: Kinematics, Mobile robots, Robots, Wheels, Dynamics (Mechanics), Motors
Journal Articles

Increasing Mobile Robot Efficiency and Versatility Through Manipulation-Driven Adaptation

Raymond Kim, Varun Madabushi, Eric Dong, Anirban Mazumdar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050906.
Paper No: JMR-21-1040
https://doi.org/10.1115/1.4051094
Published Online: May 19, 2021
View Article titled, Increasing Mobile Robot Efficiency and Versatility Through Manipulation-Driven Adaptation
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Topics: Design, Manipulators, Robots, Vehicles, Wheels, Mobile robots, Permanent magnets, Actuators
Journal Articles

Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study

Francisco Yandun, Miguel Torres-Torriti, Fernando Auat Cheein
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050902.
Paper No: JMR-21-1027
https://doi.org/10.1115/1.4051016
Published Online: May 17, 2021
View Article titled, Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study
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Topics: Algorithms, Calibration, Chain, Errors, Kinematics, Mobile robots, Parameter estimation, Robot motion, Robots, Sensors
Journal Articles

Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector

Hao Pan, Genliang Chen, Yezheng Kang, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011022.
Paper No: JMR-20-1144
https://doi.org/10.1115/1.4048754
Published Online: November 19, 2020
View Article titled, Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector
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Topics: Design, End effectors, Kinematics, Parallel mechanisms, Rods, Deformation, Wheels
Journal Articles

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

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 Article titled, Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System
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Topics: Actuators, Damping, Design, Robots, Simulation, Suspension systems, Wheels, Springs, Control equipment, Vibration isolation