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Journal Articles

Robust Multilegged Walking Robots for Interactions With Different Terrains

Nina Robson, Vanessa Audrey, Ashutosh Dwivedi, Dylan Kunzmann
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011010.
Paper No: JMR-22-1488
DOI: https://doi.org/10.1115/1.4062303
Published Online: May 26, 2023
View Article titled, Robust Multilegged Walking Robots for Interactions With Different Terrains
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Topics: Design, Kinematics, Robots, Testing, Trajectories (Physics), Linkages
Journal Articles

Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots

Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031010.
Paper No: JMR-22-1294
DOI: https://doi.org/10.1115/1.4062273
Published Online: April 21, 2023
View Article titled, Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots
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Topics: Calibration, Control equipment, Design, Grippers, Humanoid robots, Pressure, Trajectories (Physics), Stress, Robots, Weight (Mass)
Journal Articles

A Novel Transformable Leg-Wheel Mechanism

Zhong Wei, Peng Ping, Yong Luo, Jia Liu, Dapeng Chen, Weixi Wang, Huiyu Sun, Aiguo Song, Guangming Song
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031008.
Paper No: JMR-22-1164
DOI: https://doi.org/10.1115/1.4057069
Published Online: March 28, 2023
View Article titled, A Novel Transformable Leg-Wheel Mechanism
Click here to open pdf in another window PDF for A Novel Transformable Leg-Wheel Mechanism
Topics: Design, Knee, Simulation, Trajectories (Physics), Wheels, Legged locomotion, Robots, Kinematics, Actuators, Modeling
Journal Articles

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031007.
Paper No: JMR-22-1497
DOI: https://doi.org/10.1115/1.4056830
Published Online: March 27, 2023
View Article titled, Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot
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Topics: Kinematics, Optimization, Robots, Trajectories (Physics), Redundancy (Engineering)
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
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
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
View Article titled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures

Jianguo Cai, Qiuyue Zhong, Xiaohui Zhang, Kexin Wang, Qian Zhang, Jian Feng
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061015.
Paper No: JMR-22-1402
DOI: https://doi.org/10.1115/1.4056576
Published Online: January 23, 2023
View Article titled, Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures
Click here to open pdf in another window PDF for Mobility and Kinematic Bifurcation Analysis of Origami Plate Structures
Topics: Bifurcation, Kinematics, Mechanical admittance, Plates (structures), Degrees of freedom, Jacobian matrices, Trajectories (Physics)
Journal Articles

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

Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
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
View Article titled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
Click here to open pdf in another window PDF for Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand

P. Seguin, C. Preault, P. Vulliez, J. P. Gazeau
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2023, 15(6): 065001.
Paper No: JMR-21-1569
DOI: https://doi.org/10.1115/1.4056404
Published Online: January 18, 2023
View Article titled, Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand
Click here to open pdf in another window PDF for Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand
Topics: End effectors, Grasping, Grippers, Robotics, Rotation, Trajectories (Physics), Robots, Design, Errors
Journal Articles

A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators

Sri Sadhan Jujjavarapu, Hemanth Manjunatha, Ehsan Tarkesh Esfahani
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061003.
Paper No: JMR-22-1198
DOI: https://doi.org/10.1115/1.4056235
Published Online: January 17, 2023
View Article titled, A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators
Click here to open pdf in another window PDF for A Variable Stiffness End-of-Arm Tooling Mechanism to Enhance Dynamic Task Capabilities of Robotic Manipulators
Topics: Hammers, Magnets, Robots, Stiffness, Trajectories (Physics), End effectors, Manipulators, Optimization, Displacement, Energy storage
Journal Articles

Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints

Yifan Huang, Lei Yan, Taiwei Yang, Zhonghua Hu, Wenfu Xu
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2023, 15(5): 055001.
Paper No: JMR-22-1109
DOI: https://doi.org/10.1115/1.4055934
Published Online: November 24, 2022
View Article titled, Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints
Click here to open pdf in another window PDF for Sensing Design, Trajectory Planning, and Motion Control of a Cable-Driven Redundant Manipulator Composed of Quaternion Joints
Topics: Cables, End effectors, Kinematics, Trajectories (Physics), Design, Motion control
Journal Articles

Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles

Yiyu Chen, Lingchen Lian, Yu-Hsiu Hsieh, Quan Nguyen, Satyandra K. Gupta
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051002.
Paper No: JMR-22-1230
DOI: https://doi.org/10.1115/1.4055625
Published Online: November 24, 2022
View Article titled, Informed Sampling-Based Planning to Enable Legged Robots to Safely Negotiate Permeable Obstacles
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Topics: Robots, Safety, Collisions (Physics), Trajectories (Physics), Simulation
Journal Articles

A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress

Jinlu Ni, Jiangping Mei, Yabin Ding, Dongxing Yu, Yunrui Duan, Yuxin Le
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041012.
Paper No: JMR-22-1126
DOI: https://doi.org/10.1115/1.4055571
Published Online: November 14, 2022
View Article titled, A Trajectory Planning Approach for Delta Robots Considering Both Motion Smoothness and Dynamic Stress
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Topics: Dynamics (Mechanics), Robots, Stress, Trajectories (Physics), Kinematics, Deformation, B-splines
Journal Articles

Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback

Yongfeng Cao, Fan Feng, Zefeng Liu, Le Xie
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061004.
Paper No: JMR-22-1068
DOI: https://doi.org/10.1115/1.4054997
Published Online: September 12, 2022
View Article titled, Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback
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Topics: Diffraction gratings, Robots, Sensors, Shapes, Tracking control, Trajectories (Physics), Algorithms, Cables, Feedback
Journal Articles

Real-Time Reconfiguration Planning for the Dynamic Control of Reconfigurable Cable-Driven Parallel Robots

Hao Xiong, Huanhui Cao, Weifeng Zeng, Junchang Huang, Xiumin Diao, Wenjie Lu, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060913.
Paper No: JMR-21-1720
DOI: https://doi.org/10.1115/1.4055255
Published Online: September 6, 2022
View Article titled, Real-Time Reconfiguration Planning for the Dynamic Control of Reconfigurable Cable-Driven Parallel Robots
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Topics: Cables, Robots, Trajectories (Physics), Control equipment
Journal Articles

Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform

Bahman Nouri Rahmat Abadi, Juan A. Carretero
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021004.
Paper No: JMR-21-1558
DOI: https://doi.org/10.1115/1.4054614
Published Online: June 21, 2022
View Article titled, Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform
Click here to open pdf in another window PDF for Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform
Topics: Actuators, Grasping, Kinematics, Parallel mechanisms, Path planning, Redundancy (Engineering), Trajectories (Physics), Kinematic analysis, Artificial neural networks
Journal Articles

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Jun Wu, Jiahao Qiu, Hao Ye
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021005.
Paper No: JMR-21-1729
DOI: https://doi.org/10.1115/1.4054618
Published Online: June 21, 2022
View Article titled, Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range
Click here to open pdf in another window PDF for Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range
Topics: Actuators, Manipulators, Optimization, Torque, Redundant manipulators, Dynamic models, Trajectories (Physics)
Journal Articles

Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots

Jianqing Peng, Haoxuan Wu, Darwin Lau
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011013.
Paper No: JMR-22-1005
DOI: https://doi.org/10.1115/1.4054634
Published Online: June 6, 2022
View Article titled, Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots
Click here to open pdf in another window PDF for Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots
Topics: Cables, Dynamics (Mechanics), Iterative learning control, Trajectories (Physics), Errors, Robots
Journal Articles

Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator

Ahmed Soliman, Guilherme A. Ribeiro, Dongming Gan, Mo Rastgaar
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014502.
Paper No: JMR-21-1281
DOI: https://doi.org/10.1115/1.4053825
Published Online: May 12, 2022
View Article titled, Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
Click here to open pdf in another window PDF for Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
Topics: Design, Manipulators, Trajectories (Physics), End effectors, Errors, Prostheses
Journal Articles

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

A. T. Markus, M. R. Sobczyk, E. A. Perondi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011002.
Paper No: JMR-21-1596
DOI: https://doi.org/10.1115/1.4054084
Published Online: April 25, 2022
View Article titled, Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application
Click here to open pdf in another window PDF for Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application
Topics: Actuators, Artificial limbs, Dynamics (Mechanics), Errors, Muscle, Pressure, Prostheses, Simulation, Valves, Control equipment
Journal Articles

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt

Lionel Étienne, Philippe Cardou, Marceau Métillon, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041006.
Paper No: JMR-21-1546
DOI: https://doi.org/10.1115/1.4054081
Published Online: April 21, 2022
View Article titled, Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
Click here to open pdf in another window PDF for Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
Topics: Cables, Robots, Trajectories (Physics), Motors, Design