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RISDesign, Analysis, and Integration of a New Two-Degree-of-Freedom Articulated Multi-Link Robotic Tail Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Based on observations from nature, tails are believed to help animals achieve highly agile motions. Traditional single-link robotic tails serve as a good simplification for both modeling and implementation purposes. However, ...
An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design, dynamic modeling, and integration of a single degree of freedom (DOF) robotic leg mechanism intended for tailed quadruped locomotion. The design employs a lightweight six-bar linkage that ...
Stable Grasp Control With a Robotic Exoskeleton Glove
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: An exoskeleton robotic glove intended for patients who have suffered paralysis of the hand due to stroke or other factors has been developed and integrated. The robotic glove has the potential to aid patients with grasping ...
A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: An extensible continuum manipulator (ECM) has specific advantages over its nonextensible counterparts. For instance, in certain applications, such as minimally invasive surgery or pipe inspection, the base motion might be ...
A Genderless Coupling Mechanism With Six-Degrees-of-Freedom Misalignment Capability for Modular Self-Reconfigurable Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design and integration of a genderless coupling mechanism for modular self-reconfigurable mobile robots. Modular self-reconfigurable mobile robotic systems consist of a number of self-sufficient ...
A Hybrid Tracked-Wheeled Multi-Directional Mobile Robot
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the novel design and integration of a mobile robot with multi-directional mobility capabilities enabled via a hybrid combination of tracks and wheels. Tracked and wheeled locomotion modes are independent ...
Active Disturbance Rejection Control for Handling Slip in Tracked Vehicle Locomotion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper describes the use of an active disturbance rejection controller (ADRC) to estimate and compensate for the effect of slip in an online manner to improve the path tracking performance of autonomous ground vehicles ...
Active Disturbance Rejection Control for Handling Slip in Tracked Vehicle Locomotion
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper describes the use of an active disturbance rejection controller (ADRC) to estimate and compensate for the effect of slip in an online manner to improve the path tracking performance of autonomous ground vehicles ...
Two-Digit Robotic Exoskeleton Glove Mechanism: Design and Integration
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design and integration of a two-digit robotic exoskeleton glove mechanism. The proposed glove is designed to assist the user with grasping motions, such as the pincer grasp, while maintaining a ...
A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the development of a new robotic tail based on a novel cable-driven universal joint mechanism. The novel joint mechanism is synthesized by geometric reasoning to achieve the desired cable length invariance ...