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Proceedings Papers

LSTM-Enabled Level Curve Tracking in Scalar Fields Using Multiple Mobile Robots

Kunj J. Parikh, Wencen Wu
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A051, August 17–19, 2021
Paper No: DETC2021-68554
DOI: https://doi.org/10.1115/DETC2021-68554
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Topics: Mobile robots, Scalar field theory, Sensor networks, Design, Kalman filters, Robots, Sensors, Simulation results, Trains
Proceedings Papers

Design, Modeling, and Optimization of a Novel Asymmetrical Piezoelectrically Actuated Microgripper

Zekui Lyu, Qingsong Xu
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A039, August 17–19, 2021
Paper No: DETC2021-68787
DOI: https://doi.org/10.1115/DETC2021-68787
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Topics: Design, Modeling, Optimization, Displacement, Grippers, Resonance, Biomedicine, Bridges (Structures), Clamps (Tools), End effectors
Proceedings Papers

Design of a Human-Robot Collaborative System: Methodology and Case Study

Cecilia Scoccia, Marianna Ciccarelli, Giacomo Palmieri, Massimo Callegari
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A045, August 17–19, 2021
Paper No: DETC2021-70684
DOI: https://doi.org/10.1115/DETC2021-70684
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Topics: Collaboration, Design, Robotics, Robots
Proceedings Papers

Digital Twin-Based Fractional Order Controller Optimization for Industrial Robot

Xuan Liu, Pengchong Chen, Ying Luo
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A029, August 17–19, 2021
Paper No: DETC2021-72405
DOI: https://doi.org/10.1115/DETC2021-72405
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Topics: Control equipment, Optimization, Robots
Proceedings Papers

Transformation Design Principles as Enablers for Designing Reconfigurable Robots

M. Kalimuthu, A. A. Hayat, M. R. Elara, K. L. Wood
Proc. ASME. IDETC-CIE2021, Volume 6: 33rd International Conference on Design Theory and Methodology (DTM), V006T06A008, August 17–19, 2021
Paper No: DETC2021-69373
DOI: https://doi.org/10.1115/DETC2021-69373
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Topics: Design, Robots, Collapse, Robotics, Cams, Computer-aided manufacturing, Maintenance, Pavement, Skin, Storage
Proceedings Papers

Efficient Design Principles for Designing Innovative Aerial Robots

Chee How Tan, Shaohui Foong, Katja Hölttä-Otto
Proc. ASME. IDETC-CIE2021, Volume 6: 33rd International Conference on Design Theory and Methodology (DTM), V006T06A009, August 17–19, 2021
Paper No: DETC2021-69583
DOI: https://doi.org/10.1115/DETC2021-69583
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Topics: Design, Robots, Design engineering, Robotics, Batteries, Innovation
Proceedings Papers

Improving Customer Attribute Management Within the House of Quality by Integrating the Non-User

Laura Augustin, Andrea Wolffram, Christiane Beyer, Björn Kokoschko, Peter Frilling
Proc. ASME. IDETC-CIE2021, Volume 6: 33rd International Conference on Design Theory and Methodology (DTM), V006T06A043, August 17–19, 2021
Paper No: DETC2021-66868
DOI: https://doi.org/10.1115/DETC2021-66868
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Topics: Design methodology, Design theory, Feedback, Product design, Product development, Robots, User-centered design, Vacuum
Proceedings Papers

Gravity Balancing Reliability and Sensitivity Analysis of Robotic Manipulators With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A024, August 17–19, 2021
Paper No: DETC2021-66762
DOI: https://doi.org/10.1115/DETC2021-66762
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Topics: Gravity (Force), Manipulators, Reliability, Sensitivity analysis, Uncertainty, Robots, Simulation, Springs, Design, Dimensions
Proceedings Papers

A Novel Approach With Bayesian Networks to Multi-Robot Task Allocation in Dynamic Environments

Ching-Wei Chuang, Harry H. Cheng
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A047, August 17–19, 2021
Paper No: DETC2021-66902
DOI: https://doi.org/10.1115/DETC2021-66902
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Topics: Robots
Proceedings Papers

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

Angelica Ginnante, François Leborne, Stéphane Caro, Enrico Simetti, Giuseppe Casalino
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A033, August 17–19, 2021
Paper No: DETC2021-70378
DOI: https://doi.org/10.1115/DETC2021-70378
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Topics: Design, Kinematic analysis, Machining, Robots, Stiffness, Kinematics, Manipulators, Degrees of freedom, Hard materials, Milling
Proceedings Papers

Design and Analysis of Flexible Continuum Robot Based on Origami and Mortise-Tenon Structure (FCRBOM)

Yue Yu, Lifang Qiu, Decheng Wang, Jing Zou
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A005, August 17–19, 2021
Paper No: DETC2021-68169
DOI: https://doi.org/10.1115/DETC2021-68169
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Topics: Design, Robots
Proceedings Papers

Programmable Stiffness and Applications of 3D Printed TPU Grid Lattices

Yifan Yuan, Cynthia Sung
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A016, August 17–19, 2021
Paper No: DETC2021-69826
DOI: https://doi.org/10.1115/DETC2021-69826
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Topics: Additive manufacturing, Stiffness, Elastic moduli, Density, Wall thickness, Compression, Geometry, Grippers, Manufacturing, Mechanical properties
Proceedings Papers

Design of a New Piezoelectrically Actuated Compliant Microgripper With High Area Usage Efficiency

Zekui Lyu, Qingsong Xu
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A001, August 17–19, 2021
Paper No: DETC2021-67371
DOI: https://doi.org/10.1115/DETC2021-67371
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Topics: Design, Displacement, Microassembling, Grippers, Optimization, Bridges (Structures), Brittleness, Clamps (Tools), Construction, Damage
Proceedings Papers

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

Lionel Etienne, Philippe Cardou, Marceau Métillon, Stéphane Caro
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A038, August 17–19, 2021
Paper No: DETC2021-71778
DOI: https://doi.org/10.1115/DETC2021-71778
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Topics: Cables, Cranes, Design, Robots, Actuators, Dynamics (Mechanics), Engines, Inertia (Mechanics), Modeling, Motors
Proceedings Papers

Fourier Analysis Guided Cable Actuator Design for Coordinated Walking Assistance

Chong Liu, Rand Hidayah, Sunil Agrawal
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A040, August 17–19, 2021
Paper No: DETC2021-67808
DOI: https://doi.org/10.1115/DETC2021-67808
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Topics: Actuators, Cables, Design, Fourier analysis, Exoskeleton devices, Motors, Degrees of freedom, Engineering prototypes, Curve fitting, Feedback
Proceedings Papers

Orientation Control of Self-Righting Tensegrity Landers

Alan Zhang, Douglas Hutchings, Mayank Gupta, Alice Agogino
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A025, August 17–19, 2021
Paper No: DETC2021-70989
DOI: https://doi.org/10.1115/DETC2021-70989
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Topics: Robots, Tensegrity
Proceedings Papers

AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment

Raja Manish, Ze An, Ayman Habib, Mitchell R. Tuinstra, David J. Cappelleri
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A017, August 17–19, 2021
Paper No: DETC2021-68143
DOI: https://doi.org/10.1115/DETC2021-68143
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Topics: Robotics, Sensors, Design, Feedback, Resolution (Optics), Robots
Proceedings Papers

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Anirban Sinha, Anik Sarker, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A012, August 17–19, 2021
Paper No: DETC2021-72009
DOI: https://doi.org/10.1115/DETC2021-72009
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Topics: Collisions (Physics), End effectors, Interpolation, Kinematics, Path planning, Robots, Screws, Simulation, Space utilization (Design)
Proceedings Papers

Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances

Ademola Oridate, Mitchell Pryor, Carolyn Seepersad
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A008, August 17–19, 2021
Paper No: DETC2021-71602
DOI: https://doi.org/10.1115/DETC2021-71602
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Topics: Aircraft, Collisions (Physics), Computer-aided design, End effectors, Manipulators, Redundancy (Engineering), Robot motion, Robots, Shapes, Trajectories (Physics)
Proceedings Papers

Tuning Motion of Musical Saw With a Humanoid Robot for Industrial Automation Based on a Sound Feed-Back Process

Hiroaki Hanai, Atsuyuki Miura, Toshiki Hirogaki, Eiichi Aoyama
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A003, August 17–19, 2021
Paper No: DETC2021-68287
DOI: https://doi.org/10.1115/DETC2021-68287
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Topics: Finite element analysis, Humanoid robots, Robots, Acoustics, Instrumentation, Displacement, Jigs and fixtures, Real-time control, Sound pressure