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Journal Articles

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

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
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 Article titled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
Open the PDF for Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation in another window
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

Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
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 Article titled, 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

Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
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 Article titled, 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

Hyunjong Song, William Z. Peng, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
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 Article titled, 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

Hadi Yadavari, Vahid Tavakol Aghaei, Serhat İkizoğlu
Journal: Journal of Mechanisms and Robotics
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 Article titled, 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

Mehmet Baskın, Kemal Leblebicioğlu
Journal: Journal of Mechanisms and Robotics
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 Article titled, 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
Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
View Article titled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064501.
Paper No: JMR-22-1280
https://doi.org/10.1115/1.4056378
Published Online: January 18, 2023
View Article titled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips

Ho Sang Jung, Ji Yeop Kim, Sang Yul Yang, Kihyeon Kim, Jae Hyeong Park, Young Jin Gong, Seung Jae Moon, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051015.
Paper No: JMR-22-1075
https://doi.org/10.1115/1.4055933
Published Online: December 9, 2022
View Article titled, Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips
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Topics: Grippers, Shapes, Actuators, Control equipment
Includes: Supplementary data
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
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

Real-Time Reconfiguration Planning for the Dynamic Control of Reconfigurable Cable-Driven Parallel Robots

Hao Xiong, Huanhui Cao, Weifeng Zeng, Junchang Huang, Xiumin Diao, Wenjie Lu, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060913.
Paper No: JMR-21-1720
https://doi.org/10.1115/1.4055255
Published Online: September 6, 2022
View Article titled, Real-Time Reconfiguration Planning for the Dynamic Control of Reconfigurable Cable-Driven Parallel Robots
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Topics: Cables, Robots, Trajectories (Physics), Control equipment
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
View Article titled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback
Journal Articles

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Gustavo A. Medrano-Cerda
Journal: Journal of Mechanisms and Robotics
Article Type: Discussions
J. Mechanisms Robotics. October 2022, 14(5): 055501.
Paper No: JMR-20-1032
https://doi.org/10.1115/1.4049005
Published Online: August 9, 2022
View Article titled, Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms
Journal Articles

Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

Inseung Kang, Reese R. Peterson, Kinsey R. Herrin, Anirban Mazumdar, Aaron J. Young
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021007.
Paper No: JMR-22-1025
https://doi.org/10.1115/1.4054724
Published Online: June 21, 2022
View Article titled, Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion
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Topics: Actuators, Design, Exoskeleton devices, Seas, Torque, Control equipment, Feedforward control, Motors
Includes: Supplementary data
Journal Articles

Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot

Zhongmou Li, Vincent Bégoc, Abdelhamid Chriette, Isabelle Fantoni
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021003.
Paper No: JMR-21-1441
https://doi.org/10.1115/1.4054610
Published Online: June 20, 2022
View Article titled, Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot
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Topics: Control equipment, Grasping, Grippers, Robots, Unmanned aerial vehicles, Yaw, Torque, Thrust
Journal Articles

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

A. T. Markus, M. R. Sobczyk, E. A. Perondi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011002.
Paper No: JMR-21-1596
https://doi.org/10.1115/1.4054084
Published Online: April 25, 2022
View Article titled, Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application
Open the PDF for Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application in another window
Topics: Actuators, Artificial limbs, Dynamics (Mechanics), Errors, Muscle, Pressure, Prostheses, Simulation, Valves, Control equipment
Journal Articles

Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy

Bing Chen, Bin Zi, Bin Zhou, Zhengyu Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051001.
Paper No: JMR-21-1294
https://doi.org/10.1115/1.4053218
Published Online: February 18, 2022
View Article titled, Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy
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Topics: Control equipment, Orthotics, Robotics, Torque
Journal Articles

Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots

Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Ji Man Park, Chunghyuk Kang, Yoon Haeng Lee, Yong Bum Kim, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050910.
Paper No: JMR-21-1013
https://doi.org/10.1115/1.4051356
Published Online: July 6, 2021
View Article titled, Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots
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Topics: Center of mass, Control equipment, Feedforward control, Robots, Torque, Dynamics (Mechanics), Feedback, Trajectories (Physics)
Journal Articles

The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

Stefan Atay, Matthew Bryant, Gregory Buckner
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050901.
Paper No: JMR-21-1016
https://doi.org/10.1115/1.4050831
Published Online: May 17, 2021
View Article titled, The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design
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Topics: Control equipment, Control systems, Design, Hardware, Rotors, Trajectories (Physics), Vehicles, Tracking control, Locks (Waterways), Dynamic modeling
Journal Articles

Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles

Stefan Atay, Matthew Bryant, Gregory Buckner
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050904.
Paper No: JMR-21-1015
https://doi.org/10.1115/1.4050998
Published Online: May 17, 2021
View Article titled, Control and Control Allocation for Bimodal, Rotary Wing, Rolling–Flying Vehicles
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Topics: Control equipment, Control systems, Rotors, Thrust, Vehicles, Uncertainty, Algorithms, Hardware, Design, Dynamic models