Journal of Mechanisms and Robotics: Recent submissions
Now showing items 401-420 of 1771
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Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
(The American Society of Mechanical Engineers (ASME), 4/27/2023 )This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging in series several tensegrity ... -
Emerging Gaits for a Quadrupedal Template Model With Segmented Legs
(The American Society of Mechanical Engineers (ASME), 5/2/2023 1)Energy-efficient gaits in walking robots can be obtained by designing elastic systems that exhibit naturally emerging locomotion patterns. Biological legged locomotion serves as inspiration, as animals use different gaits ... -
Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots
(The American Society of Mechanical Engineers (ASME), 4/21/2023 )This paper introduces a pair of low-cost, light-weight, and compliant force-sensing gripping pads used for manipulating box-like objects with smaller-sized humanoid robots. These pads measure normal gripping forces and ... -
Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation
(The American Society of Mechanical Engineers (ASME), 4/18/2023 )Conventional mobile robots have difficulty navigating highly unstructured spaces such as caves and forests. In these environments, a highly extendable limb could be useful for deploying hooks to climb over terrain, or 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
(The American Society of Mechanical Engineers (ASME), 4/10/2023 )This work presents a novel approach for the design and control of a two degrees-of-freedom (DOF) robotic manipulator driven by one pneumatic artificial muscle (PAM) and one passive spring for each of its DOFs. The required ... -
Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds
(The American Society of Mechanical Engineers (ASME), 3/28/2023 )Phonation results from the passively induced oscillation of the vocal folds in the larynx, creating sound waves that are then articulated by the mouth and nose. Patients undergoing laryngectomy have their vocal folds removed ... -
Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator
(The American Society of Mechanical Engineers (ASME), 3/28/2023 )The field of tensegrity faces challenges in design to facilitate efficient fabrication, and modeling due to the antagonistic nature of tension and compression elements. The research presents design methodology, and modeling ... -
Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints
(The American Society of Mechanical Engineers (ASME), 3/8/2023 1)Continuum robots have attracted lots of attention due to their structural compliance, manipulation dexterity, and design compactness. To extend the application scenarios, a slender continuum robot, the CurviPicker, was ... -
Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2/21/2023 )The R-Min robot is an intrinsically safe parallel manipulator dedicated to pick-and-place operations. The proposed architecture is based on a five-bar mechanism, with additional passive joints in order to obtain a planar ... -
Robust Attitude Controller Design for an Uncommon Quadrotor With Big and Small Tilt Rotors
(The American Society of Mechanical Engineers (ASME), 2/21/2023 )In this article, a robust attitude controller design for an uncommon quadrotor aerial vehicle is discussed. This aerial vehicle is designed to have two big rotors on the longitudinal axis to increase the lift capacity and ... -
Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
(The American Society of Mechanical Engineers (ASME), 1/25/2023 )An enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees ... -
Dyno-Kinematic Leg Design for High Energy Robotic Locomotion
(The American Society of Mechanical Engineers (ASME), 11/8/2022 )Animal legs are capable of a tremendous breadth of distinct dynamic behaviors. As robots pursue this same degree of flexibility in their behavioral repertoire, the design of the power transition mechanism from joint to ... -
Joint Special Issue: Design and Control of Responsive Robots
(The American Society of Mechanical Engineers (ASME), 5/4/2023 1)Robots are complex controlled dynamical systems interacting with their environment. Agile robotic systems have been penetrating almost all industrial sectors as the backbone for industrial automation, ranging from heavy ... -
Reviewer’s Recognition
(The American Society of Mechanical Engineers (ASME), 2/20/2023 )The Editor and Editorial Board of the Journal of Mechanisms and Robotics would like to thank all of the reviewers for volunteering their expertise and time reviewing manuscripts in 2022. Serving as reviewers for the journal ... -
kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
(The American Society of Mechanical Engineers (ASME), 2023)In fish farms, a major issue is the net cage wear, resulting in fish escapes and negative impact on fish quality, due to holes and biofouling of the nets. To minimize fish losses, fisheries utilize divers to inspect net ... -
Design and Implementation of a Synergy-Based Cable-Driven Humanoid Arm With Variable Stiffness
(The American Society of Mechanical Engineers (ASME), 2023)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 ... -
Stiffness Modeling and Deformation Analysis of Parallel Manipulators Based on the Principal Axes Decomposition of Compliance Matrices
(The American Society of Mechanical Engineers (ASME), 2023)This paper presents a general equivalent approach to solve the stiffness modeling or load-deformation problem of non-redundant parallel mechanisms. Based on the principal axes decomposition of structure compliance matrices, ... -
Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg
(The American Society of Mechanical Engineers (ASME), 2023)The stiffness of robot legs greatly affects legged locomotion performance; tuning that stiffness, however, can be a costly and complex task. In this paper, we directly tune the stiffness of jumping robot legs using an ... -
Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
(The American Society of Mechanical Engineers (ASME), 2023)This paper presents the design, analysis, and development of a novel four degrees of freedom (4-DOF) endoscopic robot with cable-driven multisegment flexible continuum mechanisms. The endoscopic robot is mainly composed ... -
Light-Weight Design of Five-Degree-of-Freedom Hybrid Robot for Assembling in the Cabin
(The American Society of Mechanical Engineers (ASME), 2023)Interior assembling inside the cabin of an aircraft requires assembling robot to be light-weight and able to carry heavy payload. This paper proposed a hybrid robot and carried out its optimal design and experiments. The ...