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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

Modular Foldable Airship Concept for Subterranean Exploration

Jorge Esteban Salas Gordoniz, Nicolas Reeves, David St-Onge
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A018, August 17–19, 2021
Paper No: DETC2021-69954
DOI: https://doi.org/10.1115/DETC2021-69954
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Topics: Caves, Design, Engineering prototypes, Kinematics, Robotics, Structural design, Tunnels, Vehicles
Proceedings Papers

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Simone Asci, Ketao Zhang
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A023, August 17–19, 2021
Paper No: DETC2021-70642
DOI: https://doi.org/10.1115/DETC2021-70642
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Topics: Design, Kinematics, Robots, Simulation, Robotics, Actuators, Control systems, Kinematic analysis, Legged locomotion, Trajectories (Physics)
Proceedings Papers

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

Stanley Mugisha, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A007, August 17–19, 2021
Paper No: DETC2021-71518
DOI: https://doi.org/10.1115/DETC2021-71518
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Topics: Collaboration, Robots, Virtual reality, Haptics, Robotics, Algorithms, Collisions (Physics), End effectors, Mechanical admittance, Safety
Proceedings Papers

Feedback Control of the Locomotion of a Tailed Quadruped Robot

Yujiong Liu, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A009, August 17–19, 2021
Paper No: DETC2021-71611
DOI: https://doi.org/10.1115/DETC2021-71611
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Topics: Feedback, Robots, Control equipment, Degrees of freedom, Pendulums, Propulsion, Robotics
Proceedings Papers

Precise and Effective Robotic Tool Change Strategy Using Visual Servoing With RGB-D Camera

Danming Wei, Christopher M. Trombley, Andriy Sherehiy, Dan O. Popa
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A028, August 17–19, 2021
Paper No: DETC2021-72123
DOI: https://doi.org/10.1115/DETC2021-72123
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Topics: Robotics, Visual servoing
Proceedings Papers

Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger

Shangling Qiao, Yichen Wang, Hongwei Guo, Hong Xiao, Zongquan Deng
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A001, August 17–19, 2021
Paper No: DETC2021-67340
DOI: https://doi.org/10.1115/DETC2021-67340
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Topics: Cables, Robotics, Engines, Motors, Pulleys, Tendons, Design, Equilibrium (Physics), Linkages, Simulation experiments
Proceedings Papers

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, Sami Haddadin, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A010, August 17–19, 2021
Paper No: DETC2021-71814
DOI: https://doi.org/10.1115/DETC2021-71814
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Topics: Interpolation, Kinematics, Path planning, Screws, Robots, Trajectories (Physics), Assembly lines, Generators, Manufacturing, Redundancy (Engineering)
Proceedings Papers

Using Unsupervised Learning for Regulating Deposition Speed During Robotic Wire Arc Additive Manufacturing

Ashish Kulkarni, Prahar M. Bhatt, Alec Kanyuck, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A045, August 17–19, 2021
Paper No: DETC2021-71865
DOI: https://doi.org/10.1115/DETC2021-71865
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Topics: Additive manufacturing, Robotics, Wire, Corners (Structural elements), Metals, Trains, Dynamics (Mechanics), Electric arcs, Failure, Geometry
Proceedings Papers

Development of an End-Effector for Mitigation of Collisions

Domenico Tommasino, Matteo Bottin, Giulio Cipriani, Alberto Doria, Giulio Rosati
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A042, August 17–19, 2021
Paper No: DETC2021-68928
DOI: https://doi.org/10.1115/DETC2021-68928
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Topics: Collisions (Physics), Design, Dynamics (Mechanics), End effectors, Robotics, Robots, Computer simulation, Algorithms, Compliant mechanisms, Control systems
Proceedings Papers

Corrugated Diaphragm Actuator for Soft Robotic and Exoskeleton Applications

Veysel Erel, Alexandra R. Lindsay, Inderjeet Singh, Muthu B. J. Wijesundara
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A007, August 17–19, 2021
Paper No: DETC2021-71544
DOI: https://doi.org/10.1115/DETC2021-71544
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Topics: Actuators, Diaphragms (Mechanical devices), Diaphragms (Structural), Exoskeleton devices, Robotics
Proceedings Papers

Recent Field Implementation of Contemporary and Smart Farming Technologies at the University of Maryland Eastern Shore

Abhijit Nagchaudhuri, Christopher Hartman, Travis Ford, Jesuraj Pandya
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A035, August 17–19, 2021
Paper No: DETC2021-68464
DOI: https://doi.org/10.1115/DETC2021-68464
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Topics: Fertilizer application, Photography, Precision agriculture, Robotics, Sensor networks, Soil, Solar energy, Solar power, Sustainability, Trickle irrigation
Proceedings Papers

An Improved Dynamic Model of the Mecanum Wheel for Multibody Simulations

Peter Manzl, Johannes Gerstmayr
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A031, August 17–19, 2021
Paper No: DETC2021-70281
DOI: https://doi.org/10.1115/DETC2021-70281
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Topics: Dynamic models, Engineering simulation, Simulation, Wheels, Rollers, Kinematics, Friction, Geometry, Mobile robots, Robotics
Proceedings Papers

Delta Based Non-Anthropomorphic Hand

Rajesh Kumar, Sachin Kansal, Sudipto Mukherjee
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A013, August 17–19, 2021
Paper No: DETC2021-67349
DOI: https://doi.org/10.1115/DETC2021-67349
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Topics: Actuators, Design, End effectors, Feedback, Oscillations, Robotics, Robots, Springs
Proceedings Papers

Modification of Robotics Curriculum for Project-Based First Year Engineering Design Course

Hannah Nolte, Xiaomei Tan, Alexander Weaver, Elizabeth Starkey
Proc. ASME. IDETC-CIE2021, Volume 4: 18th International Conference on Design Education (DEC), V004T04A010, August 17–19, 2021
Paper No: DETC2021-70711
DOI: https://doi.org/10.1115/DETC2021-70711
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Topics: Engineering design, Robotics, Students, Engineering prototypes, Education, Engineering students, Instrumentation, Teaching, Undergraduate students
Proceedings Papers

Automated Quantum Entanglement and Cryptography for Networks of Robotic Systems

Farbod Khoshnoud, Maziar Ghazinejad
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A031, August 17–19, 2021
Paper No: DETC2021-71653
DOI: https://doi.org/10.1115/DETC2021-71653
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Topics: Robotics
Proceedings Papers

Robotic Manipulation System for Multi-Layer Fabric Stitching

Marcel Lahoud, Gabriele Marchello, Haider Abidi, Mariapaola D’Imperio, Ferdinando Cannella
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A037, August 17–19, 2021
Paper No: DETC2021-70994
DOI: https://doi.org/10.1115/DETC2021-70994
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Topics: Robotics, Textiles
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

Mechatronic Design of a Mobile Robot for Personal Assistance

Luigi Tagliavini, Andrea Botta, Luca Carbonari, Giuseppe Quaglia, Dario Gandini, Marcello Chiaberge
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A044, August 17–19, 2021
Paper No: DETC2021-70389
DOI: https://doi.org/10.1115/DETC2021-70389
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Topics: Design, Mobile robots, Robotics
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