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Journal Articles

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

Hyunjong Song, William Z. Peng, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011005.
Paper No: JMR-22-1508
DOI: https://doi.org/10.1115/1.4056956
Published Online: March 8, 2023
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction
Journal Articles

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Gustavo A. Medrano-Cerda
Journal: Journal of Mechanisms and Robotics
Article Type: Discussions
J. Mechanisms Robotics. October 2022, 14(5): 055501.
Paper No: JMR-20-1032
DOI: https://doi.org/10.1115/1.4049005
Published Online: August 9, 2022
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Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
DOI: https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
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Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback
Journal Articles

Stability Region-Based Analysis of Walking and Push Recovery Control

William Z. Peng, Hyunjong Song, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031005.
Paper No: JMR-20-1460
DOI: https://doi.org/10.1115/1.4050095
Published Online: March 12, 2021
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Optimization, Robots, Stability, Trajectories (Physics)
Journal Articles

Pose Changes From a Different Point of View

Gregory S. Chirikjian, Robert Mahony, Sipu Ruan, Jochen Trumpf
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021008.
Paper No: JMR-17-1315
DOI: https://doi.org/10.1115/1.4039121
Published Online: February 27, 2018
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Topics: Aircraft, Displacement, Humanoid robots, Kinematics, Rotation
Journal Articles

Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

Samer Alfayad, Ahmad M. Tayba, Fethi B. Ouezdou, Faycal Namoun
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041017.
Paper No: JMR-15-1281
DOI: https://doi.org/10.1115/1.4033157
Published Online: April 15, 2016
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Topics: Actuators, Humanoid robots, Kinematics, Yaw, Degrees of freedom, Modeling, Robots, Torque, Chain