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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
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Topics: Equilibrium (Physics), Robots, Steady state, Damping, Dynamic response, Redundant manipulators, Stiffness, Displacement
Journal Articles

Quadrupedal Human-Assistive Robotic Platform (Q-HARP): Design, Control, and Preliminary Testing

Tao Shen, Md Rayhan Afsar, Md Rejwanul Haque, Eric McClain, Sanford Meek, Xiangrong Shen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021004.
Paper No: JMR-21-1174
DOI: https://doi.org/10.1115/1.4052321
Published Online: September 20, 2021
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Topics: Design, Robotics, Robots, Trajectories (Physics), Mechanical admittance, Steady state
Journal Articles

Velocity Decomposition-Enhanced Control for Point and Curved-Foot Planar Bipeds Experiencing Velocity Disturbances

Martin Fevre, Bill Goodwine, James P. Schmiedeler
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020901.
Paper No: JMR-18-1277
DOI: https://doi.org/10.1115/1.4042485
Published Online: February 22, 2019
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Topics: Control equipment, Cycles, Dynamics (Mechanics), Errors, Feedback, Robots, Steady state, Simulation, Simulation results
Journal Articles

Screw-Based Modeling of Soft Manipulators With Tendon and Fluidic Actuation

Federico Renda, Matteo Cianchetti, Haider Abidi, Jorge Dias, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041012.
Paper No: JMR-16-1344
DOI: https://doi.org/10.1115/1.4036579
Published Online: May 17, 2017
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Topics: Kinematics, Manipulators, Screws, Stress, Tendons, Steady state
Journal Articles

Dynamics of the Planetary Roller Screw Mechanism

Matthew H. Jones, Steven A. Velinsky, Ty A. Lasky
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2016, 8(1): 014503.
Paper No: JMR-14-1313
DOI: https://doi.org/10.1115/1.4030082
Published Online: August 18, 2015
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Topics: Rollers, Screws, Dynamics (Mechanics), Friction, Steady state