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Journal Articles

SomerBot: A Two-Legged Somersaulting Robotic Climber with Compliant Footpad

Accepted Manuscript
Kadali Sankar, Atul Thakur
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1505
https://doi.org/10.1115/1.4068242
Published Online: March 18, 2025
View Article titled, SomerBot: A Two-Legged Somersaulting Robotic Climber with Compliant Footpad
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Topics: Additive manufacturing, Adhesion, Design, Energy conservation, Energy efficiency, Engines, Inspection, Laser cutting, Manufacturing, Mobile robots
Journal Articles

Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects

Seon Mi Jo, Hae-Sung Yoon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021013.
Paper No: JMR-22-1521
https://doi.org/10.1115/1.4062983
Published Online: August 8, 2023
View Article titled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
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Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
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

Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs

Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051004.
Paper No: JMR-21-1235
https://doi.org/10.1115/1.4053158
Published Online: February 18, 2022
View Article titled, Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs
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Topics: Energy efficiency, Robots, Springs, Stiffness, Variable structure systems, Motors, Boundary-value problems
Journal Articles

Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency

Tomoaki Mashimo, Takateru Urakubo, Takeo Kanade
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031002.
Paper No: JMR-12-1209
https://doi.org/10.1115/1.4028930
Published Online: August 1, 2015
View Article titled, Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency
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Topics: Torque, Stress, Energy efficiency