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Proceedings Papers

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A006, August 14–17, 2022

Paper No: DETC2022-90105

DOI: https://doi.org/10.1115/DETC2022-90105

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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics

Proceedings Papers

Context-Aware Industrial Robot Testing: Low-Cost Virtual Prototyping Environment

Alessandro Pozzi, Luca Puricelli, Marco Rossoni, Elena Spadoni, Marina Carulli, Monica Bordegoni, Giorgio Colombo

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A056, August 14–17, 2022

Paper No: DETC2022-88794

DOI: https://doi.org/10.1115/DETC2022-88794

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Topics: Robots, Testing, Virtual reality, Algorithms, Bridges (Structures), Cutting, Kinematics, Robotics, Simulation, Trajectories (Physics)

Proceedings Papers

A Sequential Decision Making Approach to Learn Process Parameters by Conducting Experiments on Sacrificial Objects

Yeo Jung Yoon, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A004, August 14–17, 2022

Paper No: DETC2022-89810

DOI: https://doi.org/10.1115/DETC2022-89810

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Topics: Decision making, Computation, Manufacturing, Metamodeling, Painting, Risk, Robotics, Sprays, Tradeoffs

Proceedings Papers

A Study on Hexapod Gait Adaptation by Enumerative Encoding and Particle Swarm Optimization

Victor Parque

Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A078, August 14–17, 2022

Paper No: DETC2022-90305

DOI: https://doi.org/10.1115/DETC2022-90305

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Topics: Encryption, Particle swarm optimization, Actuators, Failure, Optimization, Particulate matter, Physics, Robotics, Simulation

Proceedings Papers

A Computational Framework for the Evaluation of Resilience in Deep Space Habitat Systems

Amir Behjat, Roman Ibrahimov, Ali Lenjani, Aaron Barket, Kathleen Martinus, Amin Maghareh, Dawn Whitaker, Illias Bilionis, Shirley Dyke

Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A036, August 14–17, 2022

Paper No: DETC2022-89132

DOI: https://doi.org/10.1115/DETC2022-89132

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Topics: Resilience, Design, Hazards, Dust, Energy / power systems, Energy efficiency, Flaw detection, Fluctuations (Physics), Maintenance, Robotics

Proceedings Papers

Design and Modeling of a New Variable Stiffness Robotic Finger Based on Reconfigurable Beam Property Change for Flexible Grasping

Wei Xu, Jiaming Fu, Dongming Gan

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A010, August 14–17, 2022

Paper No: DETC2022-89856

DOI: https://doi.org/10.1115/DETC2022-89856

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Topics: Design, Grasping, Modeling, Robotics, Stiffness

Proceedings Papers

Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures

Dhruva Khanzode, Ranjan Jha, Damien Chablat, Emilie Duchalais

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A037, August 14–17, 2022

Paper No: DETC2022-89714

DOI: https://doi.org/10.1115/DETC2022-89714

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Topics: Design, Surgery, Tensegrity mechanisms, Optimization, Stability, Cables, Cancer, Cutting, Deflection, Parallel mechanisms

Proceedings Papers

Towards Creating Robust Walking Multi-Legged Robots for Traversing Different Terrains

Nina Robson, Vanessa Audrey

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A054, August 14–17, 2022

Paper No: DETC2022-90614

DOI: https://doi.org/10.1115/DETC2022-90614

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Topics: Robots, Kinematics, Design, Robotics, Testing, Trajectories (Physics)

Proceedings Papers

A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles

Zhujin Jiang, Chen Liu, Ketao Zhang

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A057, August 14–17, 2022

Paper No: DETC2022-91176

DOI: https://doi.org/10.1115/DETC2022-91176

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Topics: Additive manufacturing, Manipulators, Muscle, Stiffness, Bellows (Equipment), Engineering prototypes, Manufacturing, Parallel mechanisms, Pressure, Robotics

Proceedings Papers

Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions

Jay S. Chae, Carl A. Nelson, José Baca, Mukul Mukherjee

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A033, August 14–17, 2022

Paper No: DETC2022-91274

DOI: https://doi.org/10.1115/DETC2022-91274

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Topics: Astronauts, Design, Kinematics, Muscle, Robotics, Space vehicles

Proceedings Papers

Accuracy of Initially-Curved Cross-Axis Flexural Pivots

Simone Serafino, Pietro Fanghella, Matteo Verotti

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A001, August 14–17, 2022

Paper No: DETC2022-88255

DOI: https://doi.org/10.1115/DETC2022-88255

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Topics: Bending (Stress), Computer simulation, Degrees of freedom, Design, Geometry, Poles (Building), Precision engineering, Robotics

Proceedings Papers

Jamming-Reinforced Inflatable Beams for Mobile Robotics

William P. Weston-Dawkes, Michael T. Tolley

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A045, August 14–17, 2022

Paper No: DETC2022-89533

DOI: https://doi.org/10.1115/DETC2022-89533

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Topics: Robotics, Buckling, Stress, Bearings, Failure, Space, Stiffness, Deflection, Engineering prototypes, Manufacturing

Proceedings Papers

Extending and Bending Robotic Limbs Using Tape Springs for Mobility and Manipulation: Preliminary Investigations

Justin Quan, Dennis Hong

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A044, August 14–17, 2022

Paper No: DETC2022-89431

DOI: https://doi.org/10.1115/DETC2022-89431

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Topics: Mechanical admittance, Mobile robots, Robotics, Springs

Proceedings Papers

Self-Aligning Rotational Latching Mechanisms

Gabriel I. Fernandez, Samuel Gessow, Justin Quan, Dennis Hong

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A024, August 14–17, 2022

Paper No: DETC2022-89801

DOI: https://doi.org/10.1115/DETC2022-89801

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Topics: Blades, Containers, Control equipment, Design, End effectors, Errors, Logistics, Mechanical admittance, Optimization, Paperboard

Proceedings Papers

Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes

Patrick McGowan, Guangbo Hao

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A016, August 14–17, 2022

Paper No: DETC2022-90939

DOI: https://doi.org/10.1115/DETC2022-90939

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Topics: Compliant mechanisms, Design, Displacement, Finite element analysis, Computer software, Deformation, End effectors, Grippers, Rigid-body mechanisms, Robotics

Proceedings Papers

Practical End-Effector Development Through Task Interface Taxonomy Analysis

Andrew Sharp, Austin Lovan, Eduardo Herrera, Evan Laske

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A043, August 14–17, 2022

Paper No: DETC2022-89299

DOI: https://doi.org/10.1115/DETC2022-89299

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Topics: End effectors, Grippers, Robotics, Computer software, Gates (Closures), Design, Drills (Tools), Filters, Fire, Grasping

Proceedings Papers

Gait Prediction for Prosthesis Design Evaluation

Tyler Morrison, Hai-Jun Su

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A031, August 14–17, 2022

Paper No: DETC2022-89739

DOI: https://doi.org/10.1115/DETC2022-89739

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Topics: Design, Prostheses, Robotics, Simulation, Actuators, Muscle, Optimization, Trajectories (Physics), Artificial limbs, Biomechanics

Proceedings Papers

A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human-Robot Interaction

Jiaming Fu, Han Lin, Wei Xu, Dongming Gan

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A009, August 14–17, 2022

Paper No: DETC2022-89825

DOI: https://doi.org/10.1115/DETC2022-89825

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Topics: Compliant mechanisms, Human-robot interaction, Robotics, Stiffness

Proceedings Papers

A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments

Sri Sadhan Jujjavarapu, Ehsan Tarkesh Esfahani

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A018, August 14–17, 2022

Paper No: DETC2022-91310

DOI: https://doi.org/10.1115/DETC2022-91310

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Topics: Stiffness, Collisions (Physics), Robots, Displacement, End effectors, Damage, Magnets, Manipulators, Permanent magnets, Robotics

Proceedings Papers

Kinematics of an Origami Inspired Millipede Robot

Chenying Liu, Zhong You, Perla Maiolino

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A062, August 14–17, 2022

Paper No: DETC2022-88998

DOI: https://doi.org/10.1115/DETC2022-88998

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Topics: Kinematics, Origami-inspired design, Robots, Design, Manufacturing, Biomimetics, Chain, Degrees of freedom, Exoskeleton devices, Kinematic analysis

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NARROW

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Context-Aware Industrial Robot Testing: Low-Cost Virtual Prototyping Environment

A Sequential Decision Making Approach to Learn Process Parameters by Conducting Experiments on Sacrificial Objects

A Study on Hexapod Gait Adaptation by Enumerative Encoding and Particle Swarm Optimization

A Computational Framework for the Evaluation of Resilience in Deep Space Habitat Systems

Design and Modeling of a New Variable Stiffness Robotic Finger Based on Reconfigurable Beam Property Change for Flexible Grasping

Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures

Towards Creating Robust Walking Multi-Legged Robots for Traversing Different Terrains

A Variable Stiffness Continuum Parallel Manipulator With 3D Printed Pneumatic Artificial Muscles

Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions

Accuracy of Initially-Curved Cross-Axis Flexural Pivots

Jamming-Reinforced Inflatable Beams for Mobile Robotics

Extending and Bending Robotic Limbs Using Tape Springs for Mobility and Manipulation: Preliminary Investigations

Self-Aligning Rotational Latching Mechanisms

Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes

Practical End-Effector Development Through Task Interface Taxonomy Analysis

Gait Prediction for Prosthesis Design Evaluation

A Novel Variable Stiffness Compliant Robotic Link Based on Discrete Variable Stiffness Units for Safe Human-Robot Interaction

A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments

Kinematics of an Origami Inspired Millipede Robot

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