Search
CSV
RISDynamic Modeling and Locomotion Control for Quadruped Robots Based on Center of Inertia on SE(3)
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Quadruped robots have good mobility and agility in complex environments, but dynamic control of locomotion for quadruped robots has long been a big challenge for researchers. In this paper, we build the center of inertia ...
Approximation of Cylindrical Surfaces With Deployable Bennett Networks
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a one-degree-of-freedom network of Bennett linkages which can be deployed to approximate a cylindrical surface. The geometry of the unit mechanism is parameterized and its position kinematics is solved. ...
Optimization of the Rotational Asymmetric Parallel Mechanism for Hip Rehabilitation With Force Transmission Factors
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: An asymmetric three-degree-of-freedom parallel mechanism is adopted in rehabilitation robots for assisting patients suffering from stroke or trauma in the hip. It is necessary to keep its kinematic singularity out of the ...
Design and Implementation of a Synergy-Based Cable-Driven Humanoid Arm With Variable Stiffness
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cable-driven arms have the advantages of light weight, large workspace, good compliance, high-speed, and acceleration. This paper proposes a cable-driven variable stiffness humanoid arm that can reproduce typical daily ...
A Reconfigurable Modular Fixture With Redundant Actuation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The rapid development of the automotive industry calls for large demands for fixtures with high modularity and full flexibility. A novel reconfigurable modular fixture is proposed in this article. The fixture, which provides ...
Dynamics Modeling and Trajectory Tracking Control of a Quadrotor Unmanned Aerial Vehicle
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Nowadays, the quadrotor is becoming a popular platform in the academic field and the commercial area. Many prototypes have been developed for different applications. In this paper, we present the design and development of ...
Novel Deployable Mechanisms With Decoupled Degrees of Freedom
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A novel family of deployable mechanisms (DMs) is presented. Unlike most such devices, which have one degreeoffreedom (DOF), the proposed DM can be deployed and compacted independently in two or three directions. This widens ...
A Force Control Joint for Robot–Environment Contact Application
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Accurate and robust force control is still a great challenge for robot–environment contact applications, such as in situ repair, polishing, and assembly. To tackle this problem, this paper proposes a force control joint ...
A Force Control Joint for Robot–Environment Contact Application
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: Accurate and robust force control is still a great challenge for robot–environment contact applications, such as in situ repair, polishing, and assembly. To tackle this problem, this paper proposes a force control joint ...
Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The paper describes an innovative fixture created within the AUTORECON project of the European Commission's 7th Framework Program. The fixture is designed to respond to the automotive industry's needs of high modularity ...