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Keywords: control
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Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1517
Published Online: August 4, 2022
... located on the backbone. However, controlling the robots in a physically constrained environment is challenging, and conventional control strategies can be energy-inefficient or even fail to navigate to the destination. This work develops a snake locomotion gait policy via deep reinforcement learning (DRL...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1146
Published Online: July 22, 2022
..., the robot centroidal momentum and dynamics models, and a proposed altitude-control model. Then the whole-body motion references can be achieved by giving the robot centroidal-motion reference, including the centroidal translational motion in the forward and lateral directions in the inertial frame...
Journal Articles
Article Type: Review Articles
J. Mechanisms Robotics. April 2023, 15(2): 020801.
Paper No: JMR-21-1444
Published Online: July 19, 2022
... . 03 09 2021 04 05 2022 12 05 2022 19 07 2022 mobile manipulators robots planning control human–robot interaction survey decision making For over a half-century, robotic systems have been deployed to extend the reach of humans in performing dumb, dull, dirty...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1741
Published Online: July 14, 2022
... by a set of embedded shape memory alloy (SMA) springs. These can change the internal elasticity of the module as temperature changes, thereby varying the stiffness. Moreover, the control system is designed to enable real-time cooperation between multiple motors and carries out simulations for deployable...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1068
Published Online: July 14, 2022
...Yongfeng Cao; Fan Feng; Zefeng Liu; Le Xie Due to the inherent deformability of continuum robots (CRs), closed-loop control strategies of CRs come with some challenges, including sensor integration within limited dimension and uncertainties with CR system. In this paper, to obtain the spatial shape...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2023, 15(2): 024501.
Paper No: JMR-21-1681
Published Online: June 21, 2022
... are analyzed. Third, the control scheme combining travel speed controller, turn controller, and wheelbase controller is proposed based on proportional-Integral-derivative algorithm. Finally, many simulations and experiments validate both the feasibility and effectiveness of the proposed structure and control...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061007.
Paper No: JMR-21-1674
Published Online: June 6, 2022
.... , 1992 , “ Robot Dynamics and Control ,” Automatica , 28 ( 3 ), pp. 655 – 656 . 10.1016/0005-1098(92)90197-N [21] Hairer , E. , Norsett , S. P. , and Wanner , G. , 1987 , “ Solving Ordinary Differential Equations I. Nonstiff Problems ,” Math. Comput. Simul. , 29 ( 5 ), p. 447...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011013.
Paper No: JMR-22-1005
Published Online: June 6, 2022
...Jianqing Peng; Haoxuan Wu; Darwin Lau The operational space control (OSC) of multilink cable-driven hyper-redundant robots (MCDHRs) is required to perform tasks in many applications. As a new coupled active-passive (CAP) MCDHR system, due to the multiple couplings between the active cables...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011010.
Paper No: JMR-21-1512
Published Online: May 2, 2022
... bending deformation is very large. This research lays the foundation for the dynamic three-dimensional coupling modeling of the flexible manipulator and for the development of subsequent control algorithms. As far as any rigid body motion is concerned, the spinor represents the speed of the rigid...
Journal Articles
Article Type: Review Articles
J. Mechanisms Robotics. October 2022, 14(5): 050801.
Paper No: JMR-21-1395
Published Online: April 8, 2022
..., control, etc. The practical benefits and technical bottleneck have motivated the development of bat-inspired robots in recent years. The purpose of this paper is to summarize the designing principles and report current state-of-the-art of bat-inspired robot designs, emphasizing the respective...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051001.
Paper No: JMR-21-1294
Published Online: February 18, 2022
...Bing Chen; Bin Zi; Bin Zhou; Zhengyu Wang In this paper, a robotic ankle–foot orthosis (AFO) is developed for individuals with a paretic ankle, and an impedance-based assist-as-needed controller is designed for the robotic AFO to provide adaptive assistance. First, a description of the robotic AFO...
Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2022, 14(2): 025001.
Paper No: JMR-21-1197
Published Online: September 23, 2021
... configuration are introduced in this section. Email: li940513@hanyang.ac.kr Email: tjsghd101@hanyang.ac.kr Email: somedayif@hanyang.ac.kr Email: cyj@hanyang.ac.kr bio-inspired design cable-driven mechanisms compliant mechanisms control mechanism design National...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021004.
Paper No: JMR-21-1174
Published Online: September 20, 2021
..., including the overall structure of the robot and the design details of the actuated robotic leg joints. For the motion control of the robot, a joint trajectory generator is formulated, with the purpose of generating a stable walking gait to provide reliable support to its human user in the robot’s future...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011005.
Paper No: JMR-21-1108
Published Online: July 6, 2021
...Benjamin Fasquelle; Parag Khanna; Christine Chevallereau; Damien Chablat; Denis Creusot; Stéphane Jolivet; Philippe Lemoine; Philippe Wenger This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred to as X-joints. Each X-joint...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050910.
Paper No: JMR-21-1013
Published Online: July 6, 2021
... controllers generate feed-forward force commands without considering the actual torque or force feedback. This paper presents a whole-body controller using the actual joint torque measured from a torque sensor, which enables the quadrupedal robot to demonstrate both dynamic locomotion and reaction to external...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050909.
Paper No: JMR-21-1128
Published Online: July 6, 2021
... process and the possibility of evaluating rapidly design alternatives by using virtual prototypes. This article presents an adams / matlab cosimulation for the dynamics and control of a Single-Wheel pendulum ROBot (SWROB) with inertial locomotion actuation to characterize design solutions by means...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061004.
Paper No: JMR-20-1210
Published Online: May 31, 2021
...Chao Liu; Tarik Tosun; Mark Yim Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050902.
Paper No: JMR-21-1027
Published Online: May 17, 2021
...Francisco Yandun; Miguel Torres-Torriti; Fernando Auat Cheein An accurate modeling, simulation, and estimation of the wheel-terrain interaction and its effects on a robot movement plays a key role in control and navigation tasks, specially in constantly changing environments. We study...
Journal Articles
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2021, 13(5): 050903.
Paper No: JMR-21-1033
Published Online: May 17, 2021
... Committee of ASME for publication in the J ournal of M echanisms and R obotics . 14 01 2021 17 04 2021 23 04 2021 17 05 2021 control manufacturing mechanism design mobile robots robot design Natural fibers have been largely used for hundreds of years to meet...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050901.
Paper No: JMR-21-1016
Published Online: May 17, 2021
...Stefan Atay; Matthew Bryant; Gregory Buckner This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control...