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Journal Articles

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

Hyunjong Song, William Z. Peng, Joo H. Kim

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

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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction

Journal Articles

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

Luca Bruzzone, Shahab Edin Nodehi, Dario De Domenico, Pietro Fanghella

J. Mechanisms Robotics. February 2024, 16(2): 021007.

Paper No: JMR-22-1232

DOI: https://doi.org/10.1115/1.4056770

Published Online: March 3, 2023

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Topics: Robots, Wheels, Stability, Stairs

Journal Articles

A Curved Compliant Differential Mechanism With Neutral Stability

Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder

J. Mechanisms Robotics. January 2024, 16(1): 011003.

Paper No: JMR-22-1430

DOI: https://doi.org/10.1115/1.4056867

Published Online: March 3, 2023

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Topics: Potential energy, Springs, Stability, Stiffness, Symmetry (Physics), Deformation, Simulation

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

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

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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

J. Mechanisms Robotics. December 2023, 15(6): 064501.

Paper No: JMR-22-1280

DOI: https://doi.org/10.1115/1.4056378

Published Online: January 18, 2023

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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds

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

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

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Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms

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

J. Mechanisms Robotics. October 2022, 14(5): 056001.

Paper No: JMR-21-1433

DOI: https://doi.org/10.1115/1.4054926

Published Online: August 9, 2022

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Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback

Journal Articles

Geometry and Kinematics of Cylindrical Waterbomb Tessellation

Rinki Imada, Tomohiro Tachi

J. Mechanisms Robotics. August 2022, 14(4): 041009.

Paper No: JMR-21-1548

DOI: https://doi.org/10.1115/1.4054478

Published Online: May 26, 2022

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Topics: Bifurcation, Cylinders, Kinematics, Stability, Waves, Geometry, Dynamic systems, Visualization

Journal Articles

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

V. N. Murthy Arelekatti, Nina T. Petelina, W. Brett Johnson, Matthew J. Major, Amos G. Winter V

J. Mechanisms Robotics. June 2022, 14(3): 031011.

Paper No: JMR-21-1003

DOI: https://doi.org/10.1115/1.4052804

Published Online: November 18, 2021

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Topics: Artificial limbs, Dampers, Damping, Design, Knee, Stability

Journal Articles

Application of Floquet Theory to Human Gait Kinematics and Dynamics

Sandesh G. Bhat, Susheelkumar C. Subramanian, Thomas S. Sugar, Sangram Redkar

J. Mechanisms Robotics. December 2021, 13(6): 061003.

Paper No: JMR-20-1471

DOI: https://doi.org/10.1115/1.4050199

Published Online: May 31, 2021

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Topics: Dynamic systems, Dynamics (Mechanics), Kinematics, Time series, Manifolds, Knee, Stability

Journal Articles

Untethered Microrobot Motion Mechanism With Increased Longitudinal Force

Ali Anil Demircali, Rahmetullah Varol, Kadir Erkan, Huseyin Uvet

J. Mechanisms Robotics. December 2021, 13(6): 061005.

Paper No: JMR-20-1598

DOI: https://doi.org/10.1115/1.4050468

Published Online: May 31, 2021

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Topics: Displacement, Drag (Fluid dynamics), Flow (Dynamics), Levitation, Magnetic fields, Magnets, Permanent magnets, Simulation results, Graphite, Stability

Journal Articles

Design and Prototyping of Rotational Bi-Stable Mechanism Using Permanent Magnets

Hyeon-Ho Yang, Jae-Hung Han

J. Mechanisms Robotics. October 2021, 13(5): 051004.

Paper No: JMR-20-1475

DOI: https://doi.org/10.1115/1.4050295

Published Online: May 20, 2021

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Topics: Magnetic fields, Magnets, Permanent magnets, Stability, Potential energy, Design, Magnetic moment, Electromagnets

Journal Articles

A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities

Rajesh Kumar, Joyjit Mukherjee, Sudipto Mukherjee

J. Mechanisms Robotics. June 2021, 13(3): 031013.

Paper No: JMR-20-1435

DOI: https://doi.org/10.1115/1.4049950

Published Online: March 15, 2021

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Topics: Control algorithms, Design, Simulation, Sliding mode control, Stability, Structural mechanics, Shapes, Kinematics, Algorithms, Control equipment

Journal Articles

Stability Region-Based Analysis of Walking and Push Recovery Control

William Z. Peng, Hyunjong Song, Joo H. Kim

J. Mechanisms Robotics. June 2021, 13(3): 031005.

Paper No: JMR-20-1460

DOI: https://doi.org/10.1115/1.4050095

Published Online: March 12, 2021

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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Optimization, Robots, Stability, Trajectories (Physics)

Journal Articles

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Emmanouil Spyrakos-Papastavridis, Jian S. Dai

J. Mechanisms Robotics. April 2021, 13(2): 021014.

Paper No: JMR-20-1232

DOI: https://doi.org/10.1115/1.4049648

Published Online: February 23, 2021

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Topics: Control equipment, Pole placement, Robots, Stability, Motors

Journal Articles

Balloon Locomotion for Extreme Terrain

Hari D. Nayar, Michael T. Pauken, Morgan L. Cable, Michael A. Hans, Manit Ginoya

J. Mechanisms Robotics. April 2021, 13(2): 021001.

Paper No: JMR-20-1332

DOI: https://doi.org/10.1115/1.4049006

Published Online: January 18, 2021

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Topics: Aerodynamics, Buoyancy, Cables, Fluid-dynamic forces, Instrumentation, Mechanical admittance, Simulation, Stability, Vehicles, Visualization

Journal Articles

Does a Finite-Time Double Support Period Increase Walking Stability for Planar Bipeds?

Daniel S. Williams, Anne E. Martin

J. Mechanisms Robotics. February 2021, 13(1): 011019.

Paper No: JMR-20-1225

DOI: https://doi.org/10.1115/1.4048832

Published Online: November 16, 2020

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Topics: Control equipment, Stability, Simulation

Journal Articles

Design of Concentric Tube Robots Using Tube Patterning for Follow-The-Leader Deployment

Cédric Girerd, Thomas Schlinquer, Nicolas Andreff, Pierre Renaud, Kanty Rabenorosoa

J. Mechanisms Robotics. February 2021, 13(1): 011006.

Paper No: JMR-19-1174

DOI: https://doi.org/10.1115/1.4047983

Published Online: August 18, 2020

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Topics: Design, Robots, Stability, Stiffness, Shapes, Finite element analysis, Kinematics, Biomedicine

Journal Articles

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

Ming Cheng, Shaowei Fan, Dapeng Yang, Li Jiang

J. Mechanisms Robotics. December 2020, 12(6): 065001.

Paper No: JMR-19-1537

DOI: https://doi.org/10.1115/1.4047730

Published Online: July 28, 2020

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Topics: Design, Stability, Stiffness, Artificial limbs, Springs

Journal Articles

Shape-Morphing Using Bistable Triangles With Dwell-Enhanced Stability

Rami Alfattani, Craig Lusk

J. Mechanisms Robotics. October 2020, 12(5): 051003.

Paper No: JMR-18-1358

DOI: https://doi.org/10.1115/1.4046350

Published Online: March 9, 2020

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Topics: Compliant mechanisms, Design, Potential energy, Shapes, Stability, Corners (Structural elements), Kinematics, Robustness

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Journal citation

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Supplemental Material

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

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

A Curved Compliant Differential Mechanism With Neutral Stability

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

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

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)

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)

Geometry and Kinematics of Cylindrical Waterbomb Tessellation

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

Application of Floquet Theory to Human Gait Kinematics and Dynamics

Untethered Microrobot Motion Mechanism With Increased Longitudinal Force

Design and Prototyping of Rotational Bi-Stable Mechanism Using Permanent Magnets

A Sliding-Mode Control Algorithm to Enhance In-Hand Motion Capabilities

Stability Region-Based Analysis of Walking and Push Recovery Control

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Balloon Locomotion for Extreme Terrain

Does a Finite-Time Double Support Period Increase Walking Stability for Planar Bipeds?

Design of Concentric Tube Robots Using Tube Patterning for Follow-The-Leader Deployment

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

Shape-Morphing Using Bistable Triangles With Dwell-Enhanced Stability

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