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Journal Articles

Special Issue: Selected Papers from IDETC-CIE 2022

Accepted Manuscript
Venkat Krovi, Guangbo Hao, Guimin Chen, Dongming Gan, Abbas Fattah, Carl Nelson
Journal: Journal of Mechanisms and Robotics
Article Type: Guest Editorial
J. Mechanisms Robotics.
Paper No: JMR-23-1303
DOI: https://doi.org/10.1115/1.4062671
Published Online: June 2, 2023
View Article titled, Special Issue: Selected Papers from IDETC-CIE 2022
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Topics: Computers, Computers and information in engineering , Design, Dynamics (Mechanics), Kinematics, Robotics
Journal Articles

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
DOI: https://doi.org/10.1115/1.4062388
Published Online: May 2, 2023
View Article titled, Emerging Gaits for a Quadrupedal Template Model With Segmented Legs
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Topics: Dynamics (Mechanics), Knee, Limit cycles, Robots, Springs, Stability, Stiffness, Equations of motion, Eigenvalues, Elasticity
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
DOI: 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
Click here to open pdf in another window PDF for Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
Journal Articles

Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism

Wei Zhu, Zhu Xu, Zhiyuan Ma, Huiping Shen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021010.
Paper No: JMR-22-1654
DOI: https://doi.org/10.1115/1.4062149
Published Online: April 12, 2023
View Article titled, Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism
Click here to open pdf in another window PDF for Performance Analysis and Optimal Design of a Novel Schöenflies-Motion Asymmetric Parallel Mechanism
Topics: Chain, Design, Dynamics (Mechanics), Kinematics, Optimization, Parallel mechanisms, Performance evaluation, Rotation, Kinematic analysis
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
DOI: 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
Click here to open pdf in another window 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
Topics: Control equipment, Degrees of freedom, Design, Dynamics (Mechanics), Feedforward control, Manipulators, Muscle, Pressure, Robots, Valves
Journal Articles

Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds

Azadeh Shariati, Helge A. Wurdemann
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031007.
Paper No: JMR-22-1179
DOI: https://doi.org/10.1115/1.4056970
Published Online: March 28, 2023
View Article titled, Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds
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Topics: Actuators, Design, Vocal cords, Dynamics (Mechanics)
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
DOI: 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
Click here to open pdf in another window PDF for Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability
Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction
Journal Articles

Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems

Jason Bettega, Dario Richiedei, Iacopo Tamellin, Alberto Trevisani
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031002.
Paper No: JMR-22-1261
DOI: https://doi.org/10.1115/1.4056437
Published Online: January 25, 2023
View Article titled, Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
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Topics: Dynamics (Mechanics), Feedforward control, Errors
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
DOI: 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
Click here to open pdf in another window PDF for Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

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

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

A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress

Jinlu Ni, Jiangping Mei, Yabin Ding, Dongxing Yu, Yunrui Duan, Yuxin Le
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041012.
Paper No: JMR-22-1126
DOI: https://doi.org/10.1115/1.4055571
Published Online: November 14, 2022
View Article titled, A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress
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Topics: Dynamics (Mechanics), Robots, Stress, Trajectories (Physics), Kinematics, Deformation, B-splines
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
DOI: 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
Click here to open pdf in another window PDF for A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot
Topics: Control equipment, Dynamics (Mechanics), Generators, Robots, Torque, Wheels, Kinematics, Surface roughness, Geometry
Journal Articles

Dyno-Kinematic Leg Design for High Energy Robotic Locomotion

Max Austin, Jason Brown, John Nicholson, Jonathan Clark
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031001.
Paper No: JMR-22-1264
DOI: https://doi.org/10.1115/1.4055998
Published Online: November 8, 2022
View Article titled, Dyno-Kinematic Leg Design for High Energy Robotic Locomotion
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Topics: Design, Dynamics (Mechanics), Kinematics, Robots, Motors, Simulation, Linkages, Torque
Journal Articles

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Frederico Fernandes Afonso Silva, Juan José Quiroz-Omaña, Bruno Vilhena Adorno
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061005.
Paper No: JMR-21-1398
DOI: https://doi.org/10.1115/1.4054320
Published Online: September 14, 2022
View Article titled, Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
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Topics: Algebra, Algorithms, Manipulators, Robots, Robotics, Simulation, Dynamics (Mechanics)
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
DOI: 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)
Click here to open pdf in another window 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)
Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms
Journal Articles

Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots

Jianqing Peng, Haoxuan Wu, Darwin Lau
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011013.
Paper No: JMR-22-1005
DOI: https://doi.org/10.1115/1.4054634
Published Online: June 6, 2022
View Article titled, Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots
Click here to open pdf in another window PDF for Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots
Topics: Cables, Dynamics (Mechanics), Iterative learning control, Trajectories (Physics), Errors, Robots
Journal Articles

Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains

T. H. Fass, Guangbo Hao, Pádraig Cantillon-Murphy
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060911.
Paper No: JMR-21-1674
DOI: https://doi.org/10.1115/1.4054311
Published Online: June 6, 2022
View Article titled, Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains
Click here to open pdf in another window PDF for Vectorized Formulation of Newton-Euler Dynamics for Efficiently Computing Three-Dimensional Folding Chains
Topics: Chain, Dynamics (Mechanics), Computation, Algorithms
Journal Articles

Three-Dimensional Dynamic Modeling and Analysis of Flexible Robot With Coupling Deformation Based on Spinor Theory

Fuli Zhang, Zhaohui Yuan, Jianrui Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011010.
Paper No: JMR-21-1512
DOI: https://doi.org/10.1115/1.4054331
Published Online: May 2, 2022
View Article titled, Three-Dimensional Dynamic Modeling and Analysis of Flexible Robot With Coupling Deformation Based on Spinor Theory
Click here to open pdf in another window PDF for Three-Dimensional Dynamic Modeling and Analysis of Flexible Robot With Coupling Deformation Based on Spinor Theory
Topics: Deformation, Flexible manipulators, Robots, Manipulators, Dynamics (Mechanics)
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
DOI: 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
Click here to open pdf in another window PDF for Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application
Topics: Actuators, Artificial limbs, Dynamics (Mechanics), Errors, Muscle, Pressure, Prostheses, Simulation, Valves, Control equipment
Journal Articles

Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets

Chong Zhao, Ke Wang, Haifeng Zhao, Hongwei Guo, Rongqiang Liu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060902.
Paper No: JMR-21-1670
DOI: https://doi.org/10.1115/1.4054245
Published Online: April 21, 2022
View Article titled, Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets
Click here to open pdf in another window PDF for Kinematics, Dynamics, and Experiments of n(3RRlS) Reconfigurable Series–Parallel Manipulators for Capturing Space Noncooperative Targets
Topics: Dynamics (Mechanics), Jacobian matrices, Kinematics, Manipulators, Deformation