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Journal Articles

Dual Quaternions Representation of Lagrange's dynamic equations

Accepted Manuscript
Avraham Cohen, Benjamin Taub, Moshe Shoham
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1244
DOI: https://doi.org/10.1115/1.4062463
Published Online: May 3, 2023
View Article titled, Dual Quaternions Representation of Lagrange's dynamic equations
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Topics: Equations of motion, Accounting, Damping, Design, Energy dissipation, Exoskeleton devices, Manipulators, Multibody dynamics, Springs, Viscosity
Journal Articles

Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism

Fanyi Guo, Zhili Sun, Shengnan Zhang, Runan Cao, Haiyang Li
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061007.
Paper No: JMR-22-1417
DOI: https://doi.org/10.1115/1.4056376
Published Online: January 17, 2023
View Article titled, Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
Click here to open pdf in another window PDF for Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
Topics: Damping, Stiffness, Displacement, Event history analysis, Excitation, Optimization, Failure, Probability, Reliability, Frequency response
Journal Articles

Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation

Carlos Saldarriaga, Imin Kao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051010.
Paper No: JMR-22-1144
DOI: https://doi.org/10.1115/1.4055966
Published Online: November 25, 2022
View Article titled, Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
Click here to open pdf in another window PDF for Impedance Control on Redundant Manipulators With Zero-Potential-Energy Motions: Theory and Experimental Validation
Topics: Equilibrium (Physics), Robots, Steady state, Damping, Dynamic response, Redundant manipulators, Stiffness, Displacement
Journal Articles

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054502.
Paper No: JMR-22-1110
DOI: https://doi.org/10.1115/1.4055999
Published Online: November 25, 2022
View Article titled, Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
Click here to open pdf in another window PDF for Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
Topics: Deformation, Dynamics (Mechanics), Inertia (Mechanics), Pendulums, Stiffness, Potential energy, Rotation, Springs, Damping, Dampers
Journal Articles

Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees

V. N. Murthy Arelekatti, Nina T. Petelina, W. Brett Johnson, Matthew J. Major, Amos G. Winter V
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031011.
Paper No: JMR-21-1003
DOI: https://doi.org/10.1115/1.4052804
Published Online: November 18, 2021
View Article titled, Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees
Click here to open pdf in another window PDF for Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees
Topics: Artificial limbs, Dampers, Damping, Design, Knee, Stability
Journal Articles

Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System

Liwei Ni, Fangwu Ma, Linhe Ge, Liang Wu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011014.
Paper No: JMR-19-1488
DOI: https://doi.org/10.1115/1.4048226
Published Online: October 22, 2020
View Article titled, Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System
Click here to open pdf in another window PDF for Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System
Topics: Actuators, Damping, Design, Robots, Simulation, Suspension systems, Wheels, Springs, Control equipment, Vibration isolation
Journal Articles

Mitigating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots

Jesse J. Rond, Michael C. Cardani, Matthew I. Campbell, Jonathan W. Hurst
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051010.
Paper No: JMR-19-1271
DOI: https://doi.org/10.1115/1.4046834
Published Online: May 11, 2020
View Article titled, Mitigating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots
Click here to open pdf in another window PDF for Mitigating Peak Impact Forces by Customizing the Passive Foot Dynamics of Legged Robots
Topics: Collisions (Physics), Compression, Dampers, Damping, Design, Dynamics (Mechanics), Robots, Springs, Stiffness, Vibration
Journal Articles

Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots

Loïc Cuvillon, Xavier Weber, Jacques Gangloff
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051004.
Paper No: JMR-19-1330
DOI: https://doi.org/10.1115/1.4046434
Published Online: March 9, 2020
View Article titled, Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots
Click here to open pdf in another window PDF for Modal Control for Active Vibration Damping of Cable-Driven Parallel Robots
Topics: Cables, Control equipment, Damping, Dynamics (Mechanics), End effectors, Gain scheduling, Robots, Trajectories (Physics), Vibration, Equilibrium (Physics)
Journal Articles

Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks

Sambad Regmi, Yun Seong Song
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041002.
Paper No: JMR-19-1380
DOI: https://doi.org/10.1115/1.4045688
Published Online: March 6, 2020
View Article titled, Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks
Click here to open pdf in another window PDF for Design Methodology for Robotic Manipulator for Overground Physical Interaction Tasks
Topics: Design, Design methodology, Kinematics, Manipulators, Motors, Robotics, Robots, Dynamics (Mechanics), End effectors, Damping
Journal Articles

The Concurrent Control of Motion and Contact Force in the Presence of Predictable Disturbances

Davide Piovesan, Maxim Kolesnikov, Kevin Lynch, Ferdinando A. Mussa-Ivaldi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060903.
Paper No: JMR-19-1076
DOI: https://doi.org/10.1115/1.4044599
Published Online: September 11, 2019
View Article titled, The Concurrent Control of Motion and Contact Force in the Presence of Predictable Disturbances
Click here to open pdf in another window PDF for The Concurrent Control of Motion and Contact Force in the Presence of Predictable Disturbances
Topics: Stiffness, Errors, Damping
Journal Articles

Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds

Yevgeniy Yesilevskiy, Zhenyu Gan, C. David Remy
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031008.
Paper No: JMR-17-1063
DOI: https://doi.org/10.1115/1.4039496
Published Online: April 5, 2018
View Article titled, Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds
Click here to open pdf in another window PDF for Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds
Topics: Actuators, Engines, Friction, Mechanical drives, Motors, Seas, Springs, Optimization, Robots, Damping
Journal Articles

Tuning of a Rigid-Body Dynamics Model of a Flapping Wing Structure With Compliant Joints

Joseph Calogero, Mary Frecker, Zohaib Hasnain, James E. Hubbard, Jr.
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011007.
Paper No: JMR-17-1195
DOI: https://doi.org/10.1115/1.4038441
Published Online: December 20, 2017
View Article titled, Tuning of a Rigid-Body Dynamics Model of a Flapping Wing Structure With Compliant Joints
Click here to open pdf in another window PDF for Tuning of a Rigid-Body Dynamics Model of a Flapping Wing Structure With Compliant Joints
Topics: Compliant mechanisms, Dynamics (Mechanics), Kinematics, Spar platforms, Stiffness, Wing spars, Wings, Damping, Cycles
Journal Articles

Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions

Juan De la Fuente, Thomas G. Sugar, Sangram Redkar
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2017, 9(2): 024502.
Paper No: JMR-16-1296
DOI: https://doi.org/10.1115/1.4036023
Published Online: March 9, 2017
View Article titled, Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions
Click here to open pdf in another window PDF for Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions
Topics: Control equipment, Limit cycles, Noise (Sound), Oscillations, Pendulums, Simulation, Damping, Trajectories (Physics), Signals, Robots
Journal Articles

Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet

Landen Bowen, Kara Springsteen, Saad Ahmed, Erika Arrojado, Mary Frecker, Timothy W. Simpson, Zoubeida Ounaies, Paris von Lockette
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021012.
Paper No: JMR-16-1315
DOI: https://doi.org/10.1115/1.4035966
Published Online: March 9, 2017
View Article titled, Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet
Click here to open pdf in another window PDF for Design, Fabrication, and Modeling of an Electric–Magnetic Self-Folding Sheet
Topics: Actuators, Approximation, Design, Dynamic models, Manufacturing, Modeling, Plasma desorption mass spectrometry, Stiffness, Dynamic modeling, Active materials
Journal Articles

Steinkamp's Toy Can Hop 100 Times But Can't Stand Up

Gregg Stiesberg, Tim van Oijen, Andy Ruina
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. February 2017, 9(1): 011017.
Paper No: JMR-16-1265
DOI: https://doi.org/10.1115/1.4035337
Published Online: January 13, 2017
View Article titled, Steinkamp's Toy Can Hop 100 Times But Can't Stand Up
Click here to open pdf in another window PDF for Steinkamp's Toy Can Hop 100 Times But Can't Stand Up
Topics: Eigenvalues, Simulation, Springs, Stability, Damping, Limit cycles, Engineering simulation, Robots
Includes: Supplementary data
Journal Articles

Design for Control of Wheeled Inverted Pendulum Platforms

Hari Vasudevan, Aaron M. Dollar, John B. Morrell
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041005.
Paper No: JMR-13-1162
DOI: https://doi.org/10.1115/1.4029401
Published Online: November 1, 2015
View Article titled, Design for Control of Wheeled Inverted Pendulum Platforms
Click here to open pdf in another window PDF for Design for Control of Wheeled Inverted Pendulum Platforms
Topics: Design, Limit cycles, Motors, Simulation, Tires, Wheels, Pendulums, Damping, Torque
Journal Articles

Limit Cycles to Enhance Human Performance Based on Phase Oscillators

Thomas G. Sugar, Andrew Bates, Matthew Holgate, Jason Kerestes, Marc Mignolet, Philip New, Ragesh K. Ramachandran, Sangram Redkar, Chase Wheeler
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011001.
Paper No: JMR-14-1243
DOI: https://doi.org/10.1115/1.4029336
Published Online: February 1, 2015
View Article titled, Limit Cycles to Enhance Human Performance Based on Phase Oscillators
Click here to open pdf in another window PDF for Limit Cycles to Enhance Human Performance Based on Phase Oscillators
Topics: Control equipment, Limit cycles, Robots, Damping, Exoskeleton devices, Torque, Signals, Energy harvesting
Journal Articles

Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting

Rafael E. Vasquez, Carl D. Crane,, III, Julio C. Correa
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2014, 6(3): 031015.
Paper No: JMR-13-1214
DOI: https://doi.org/10.1115/1.4027703
Published Online: June 17, 2014
View Article titled, Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting
Click here to open pdf in another window PDF for Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting
Topics: Tensegrity mechanisms, Wave energy, Waves, Tensegrity, Equations of motion, Damping