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Proceedings Papers

Origami Claw Tessellation and Its Stacked Structure

David Xing, Zhong You
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A060, August 14–17, 2022
Paper No: DETC2022-88680
https://doi.org/10.1115/DETC2022-88680
View Paper titled, Origami Claw Tessellation and Its Stacked Structure
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Topics: Kinematic analysis, Kinematics, Manufacturing, Metamaterials
Proceedings Papers

On the Kinematic Analysis of an Orthogonal Bricard 6R Mechanism

Pierluigi Rea, Maurizio Ruggiu, Andreas Müller
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A022, August 14–17, 2022
Paper No: DETC2022-89534
https://doi.org/10.1115/DETC2022-89534
View Paper titled, On the Kinematic Analysis of an Orthogonal Bricard 6R Mechanism
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Topics: Kinematic analysis, Kinematics, Screws
Proceedings Papers

Higher-Order Kinematics of Lower-Pair Chains With Hyper-Multidual Algebra

Daniel Condurache
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A073, August 14–17, 2022
Paper No: DETC2022-88781
https://doi.org/10.1115/DETC2022-88781
View Paper titled, Higher-Order Kinematics of Lower-Pair Chains With Hyper-Multidual Algebra
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Topics: Algebra, Chain, Kinematics
Proceedings Papers

Towards Creating Robust Walking Multi-Legged Robots for Traversing Different Terrains

Nina Robson, Vanessa Audrey
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A054, August 14–17, 2022
Paper No: DETC2022-90614
https://doi.org/10.1115/DETC2022-90614
View Paper titled, Towards Creating Robust Walking Multi-Legged Robots for Traversing Different Terrains
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Topics: Robots, Kinematics, Design, Robotics, Testing, Trajectories (Physics)
Proceedings Papers

Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology

Tanner Vaculik, Brian Slaboch, Luis A. Rodriguez
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A041, August 14–17, 2022
Paper No: DETC2022-89138
https://doi.org/10.1115/DETC2022-89138
View Paper titled, Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology
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Topics: Design engineering, Topology, Kinematics, Actuators, Degrees of freedom, End effectors, Energy consumption, Engineering prototypes, Trajectories (Physics)
Proceedings Papers

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A040, August 14–17, 2022
Paper No: DETC2022-90206
https://doi.org/10.1115/DETC2022-90206
View Paper titled, “On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion
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Topics: Center of mass, Design, Kinematics, Reliability, Robots, Wheels
Proceedings Papers

Sensitivity Study With Sobol’ Indices in Planar Multistable Mechanisms

Edward J. Dold, Philip A. Voglewede
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A021, August 14–17, 2022
Paper No: DETC2022-89414
https://doi.org/10.1115/DETC2022-89414
View Paper titled, Sensitivity Study With Sobol’ Indices in Planar Multistable Mechanisms
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Topics: Design, Kinematics, Potential energy
Proceedings Papers

Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions

Jay S. Chae, Carl A. Nelson, José Baca, Mukul Mukherjee
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A033, August 14–17, 2022
Paper No: DETC2022-91274
https://doi.org/10.1115/DETC2022-91274
View Paper titled, Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions
Open the PDF for Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions in another window
Topics: Astronauts, Design, Kinematics, Muscle, Robotics, Space vehicles
Proceedings Papers

A Modular Continuum Manipulator for Aerial Manipulation and Perching

Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani, Long Wang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A014, August 14–17, 2022
Paper No: DETC2022-90595
https://doi.org/10.1115/DETC2022-90595
View Paper titled, A Modular Continuum Manipulator for Aerial Manipulation and Perching
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Topics: Cables, Design, Kinematics, Manipulators, Modeling, Stiffness, Unmanned aerial vehicles, Biomimetics, Compliant mechanisms, Engineering prototypes
Proceedings Papers

On the Computation of the Average of Spatial Displacements

Qiaode Jeffrey Ge, Zihan Yu, Mona Arbab, Mark Langer
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A078, August 14–17, 2022
Paper No: DETC2022-90156
https://doi.org/10.1115/DETC2022-90156
View Paper titled, On the Computation of the Average of Spatial Displacements
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Topics: Algorithms, Biomechanics, Biomedical imaging, Computation, Displacement, Eigenvalues, Errors, Kinematics, Performance, Separation (Technology)
Proceedings Papers

A Curved Compliant Differential Mechanism With Neutral Stability

Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A004, August 14–17, 2022
Paper No: DETC2022-89406
https://doi.org/10.1115/DETC2022-89406
View Paper titled, A Curved Compliant Differential Mechanism With Neutral Stability
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Topics: Stability, Stiffness, Springs, Potential energy, Deformation, Design, Dimensions, Engineering simulation, Kinematics, Parametric design
Proceedings Papers

Kinematics of an Origami Inspired Millipede Robot

Chenying Liu, Zhong You, Perla Maiolino
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A062, August 14–17, 2022
Paper No: DETC2022-88998
https://doi.org/10.1115/DETC2022-88998
View Paper titled, Kinematics of an Origami Inspired Millipede Robot
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Topics: Kinematics, Origami-inspired design, Robots, Design, Manufacturing, Biomimetics, Chain, Degrees of freedom, Exoskeleton devices, Kinematic analysis
Proceedings Papers

Maneuvering Control of a Planar Snake Robot Locomotion Using a Combined Heading-Velocity-Shape Strategy

Mahdi Haghshenas-Jaryani
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A035, August 14–17, 2022
Paper No: DETC2022-87984
https://doi.org/10.1115/DETC2022-87984
View Paper titled, Maneuvering Control of a Planar Snake Robot Locomotion Using a Combined Heading-Velocity-Shape Strategy
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Topics: Robots, Shapes, Control algorithms, Control equipment, Dynamics (Mechanics), Kinematics, Navigation, Phase shift, Simulation, Simulation results
Proceedings Papers

Systematic Generation of 5-Axis Manufacturing Machines

Cole Jetton, Liam Rudd, Matthew I. Campbell
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A019, August 14–17, 2022
Paper No: DETC2022-87874
https://doi.org/10.1115/DETC2022-87874
View Paper titled, Systematic Generation of 5-Axis Manufacturing Machines
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Topics: Design, Machinery, Manufacturing, Degrees of freedom, Algebra, Computers, Cutting, Generative design, Hull, Kinematics
Proceedings Papers

Estimating the Complete Solution Set of the Approximate Path Synthesis Problem for Four-Bar Linkages Using Random Monodromy Loops

Aravind Baskar, Caroline Hills, Mark Plecnik, Jonathan D. Hauenstein
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A026, August 14–17, 2022
Paper No: DETC2022-90402
https://doi.org/10.1115/DETC2022-90402
View Paper titled, Estimating the Complete Solution Set of the Approximate Path Synthesis Problem for Four-Bar Linkages Using Random Monodromy Loops
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Topics: Linkages, Design, Optimization, Dimensions, Filters, Generators, Kinematics, Optimization algorithms, Polynomials
Proceedings Papers

A Local Constraint Resolution Approach for Dynamics Modeling of Parallel Kinematic Manipulators With Single-Loop Complex Limbs

Andreas Müller
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A015, August 14–17, 2022
Paper No: DETC2022-90877
https://doi.org/10.1115/DETC2022-90877
View Paper titled, A Local Constraint Resolution Approach for Dynamics Modeling of Parallel Kinematic Manipulators With Single-Loop Complex Limbs
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Modeling, Resolution (Optics)
Proceedings Papers

Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism

Mohammed El Kihal, Jiamin Wang, Oumar Barry
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A049, August 14–17, 2022
Paper No: DETC2022-89937
https://doi.org/10.1115/DETC2022-89937
View Paper titled, Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism
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Topics: Biomimetics, Design, Modeling, Robotics, Actuators, Computer simulation, Control equipment, Degrees of freedom, Exoskeleton devices, Kinematics
Proceedings Papers

Identification of Motor Control Objectives in Human Locomotion via Multi-Objective Inverse Optimal Control

Matilde Tomasi, Alessio Artoni
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A017, August 14–17, 2022
Paper No: DETC2022-89536
https://doi.org/10.1115/DETC2022-89536
View Paper titled, Identification of Motor Control Objectives in Human Locomotion via Multi-Objective Inverse Optimal Control
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Topics: Motor controls, Optimal control, Design, Engineering simulation, Ergonomics, Kinematics, Nervous system, Rehabilitation devices, Simulation, Surgery
Proceedings Papers

LINKS: A Dataset of a Hundred Million Planar Linkage Mechanisms for Data-Driven Kinematic Design

Amin Heyrani Nobari, Akash Srivastava, Dan Gutfreund, Faez Ahmed
Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A013, August 14–17, 2022
Paper No: DETC2022-89798
https://doi.org/10.1115/DETC2022-89798
View Paper titled, LINKS: A Dataset of a Hundred Million Planar Linkage Mechanisms for Data-Driven Kinematic Design
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Topics: Design, Kinematics, Linkages, Simulation, Databases, Algorithms, Degrees of freedom, Screw threads, Shapes, Thread
Proceedings Papers

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Rishi Malhan, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A006, August 14–17, 2022
Paper No: DETC2022-90105
https://doi.org/10.1115/DETC2022-90105
View Paper titled, Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts
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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics