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Proceedings Papers

Asymmetric Kinematic and Dynamic Models of Robotic Assisted Sit-to-Stand System for Stroke Rehabilitation

Jiaoying Jiang, Guangzhou Hu, Kok-Meng Lee
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A011, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9207
https://doi.org/10.1115/DSCC2019-9207
View Paper titled, Asymmetric Kinematic and Dynamic Models of Robotic Assisted Sit-to-Stand System for Stroke Rehabilitation
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Topics: Dynamic models, Kinematics, Robotics, Design, Dynamics (Mechanics), Engineering simulation, Gravity (Force), Muscle, Simulation
Proceedings Papers

Combining Gait Trainers and Partial Weight Bearing Lifters: Passive Modulation of Lift Force via Cam Profile

Michael Yagiela, Scott Steinbrink, Davide Piovesan
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T05A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9013
https://doi.org/10.1115/DSCC2019-9013
View Paper titled, Combining Gait Trainers and Partial Weight Bearing Lifters: Passive Modulation of Lift Force via Cam Profile
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Topics: Bearings, Design, Gravity (Force), Lift (Fluid dynamics), Pistons, Stress, Weight (Mass)
Proceedings Papers

A Passive Jumping Mechanism

Phanindra Tallapragada, Jake Buzhardt, Robert Seney
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A010, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9194
https://doi.org/10.1115/DSCC2019-9194
View Paper titled, A Passive Jumping Mechanism
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Topics: Center of mass, Design, Gravity (Force), Robots
Proceedings Papers

A Passivity-Based Regressor-Free Adaptive Controller for Robot Manipulators With Combined Regressor/Parameter Estimation

Donald Ebeigbe, Dan Simon
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T21A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9010
https://doi.org/10.1115/DSCC2018-9010
View Paper titled, A Passivity-Based Regressor-Free Adaptive Controller for Robot Manipulators With Combined Regressor/Parameter Estimation
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Topics: Control equipment, Manipulators, Parameter estimation, Robots, Function approximation, Gravity (Force), Inertia (Mechanics), Degrees of freedom, Design, Equations of motion
Proceedings Papers

A Novel Compliant Actuator With Load-Dependent Variable Stiffness: Design Concept and Control

Lu Lu, Jiawei Li, Cong Wang, Dan Strassberg
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T26A003, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9708
https://doi.org/10.1115/DSCC2016-9708
View Paper titled, A Novel Compliant Actuator With Load-Dependent Variable Stiffness: Design Concept and Control
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Topics: Actuators, Design, Stiffness, Stress, Inertia (Mechanics), Springs, Engines, Motion control, Motors, Collisions (Physics)
Proceedings Papers

Design and Control Framework for Selecting Wind Turbine Gear Ratios Based on Optimal Power Generation and Blade Stress

Amrita Lall, Hamid Khakpour Nejadkhaki, John Hall
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T04A001, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9716
https://doi.org/10.1115/DSCC2016-9716
View Paper titled, Design and Control Framework for Selecting Wind Turbine Gear Ratios Based on Optimal Power Generation and Blade Stress
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Topics: Blades, Design, Energy generation, Gears, Stress, Wind turbines, Simulation, Wind, Boundary element methods, Control algorithms
Proceedings Papers

Combining Gait Trainers and Partial Weight Bearing Lifters: A Dynamic Analysis of Seat-to-Stand Transition

Davide Piovesan, Michael Yagiela, Richard Johnson, Anne Schmitz
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T07A001, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9731
https://doi.org/10.1115/DSCC2016-9731
View Paper titled, Combining Gait Trainers and Partial Weight Bearing Lifters: A Dynamic Analysis of Seat-to-Stand Transition
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Topics: Actuators, Bearings, Cylinders, Design, Dynamic analysis, Gravity (Force), Mechanical admittance, Pistons, Springs, Stress
Proceedings Papers

Hardening and Softening Characteristics of a Piecewise Linear Isolator Under 1G Gravity

X. Wang, G. T. Zheng
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T14A001, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3734
https://doi.org/10.1115/DSCC2013-3734
View Paper titled, Hardening and Softening Characteristics of a Piecewise Linear Isolator Under 1G Gravity
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Topics: Gravity (Force), Hardening, Frequency response, Clearances (Engineering), Nonlinear systems, Stiffness, Transfer functions
Proceedings Papers

Development of an Advanced Model of Passive Dynamic Biped Walking

Derek Koop, Christine Q. Wu
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T10A002, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3820
https://doi.org/10.1115/DSCC2013-3820
View Paper titled, Development of an Advanced Model of Passive Dynamic Biped Walking
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Topics: Design, Friction, Gravity (Force), Robots
Proceedings Papers

A Nonlinear Observer Design for a Rigid Body in the Proximity of a Spherical Asteroid

Maziar Izadi, Jan Bohn, Daero Lee, Amit K. Sanyal, Eric Butcher, Daniel J. Scheeres
Proc. ASME. DSCC2013, Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems, V001T02A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4085
https://doi.org/10.1115/DSCC2013-4085
View Paper titled, A Nonlinear Observer Design for a Rigid Body in the Proximity of a Spherical Asteroid
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Topics: Design, Gravity (Force), Space vehicles
Proceedings Papers

Relation Between End-Effector Impedance and Joint Friction of Statically-Balanced Mechanisms

Wenwu Xiu, Ou Ma
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T48A006, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4095
https://doi.org/10.1115/DSCC2013-4095
View Paper titled, Relation Between End-Effector Impedance and Joint Friction of Statically-Balanced Mechanisms
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Topics: End effectors, Friction, Stress, Gravity (Force), Design, Nervous system, Simulation
Proceedings Papers

Set-Point Control With Gravity Compensation for Robots With Input/Output Delays

Yen-Chen Liu, Nikhil Chopra
Proc. ASME. DSCC2012-MOVIC2012, Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control, 467-474, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8772
https://doi.org/10.1115/DSCC2012-MOVIC2012-8772
View Paper titled, Set-Point Control With Gravity Compensation for Robots With Input/Output Delays
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Topics: Delays, Gravity (Force), Robots, Electromagnetic scattering, Manipulators, Radiation scattering, Scattering (Physics), Algorithms, Closed loop systems, Control algorithms
Proceedings Papers

Experimental Study on Passive Dynamic Bipedal Walking: Comparing Test Platforms and Effects of Parameter Changes on Gait Patterns

Kazi Rushdi, Derek Koop, Christine Q. Wu
Proc. ASME. DSCC2011, ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2, 87-94, October 31–November 2, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2011-6147
https://doi.org/10.1115/DSCC2011-6147
View Paper titled, Experimental Study on Passive Dynamic Bipedal Walking: Comparing Test Platforms and Effects of Parameter Changes on Gait Patterns
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Topics: Belts, Gravity (Force), Simulation results, Testing
Proceedings Papers

Development of Control System by Nonlinear Compensation Using Digital Acceleration Control

Takanori Emaru, Kazuo Imagawa, Yohei Hoshino, Yukinori Kobayashi
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 2, 461-467, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4125
https://doi.org/10.1115/DSCC2010-4125
View Paper titled, Development of Control System by Nonlinear Compensation Using Digital Acceleration Control
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Topics: Control equipment, Control systems, Errors, Friction, Gravity (Force), Inertia (Mechanics), Manipulators, Modeling, Robustness, Simulation results
Proceedings Papers

Gravity Powered Locomotion and Active Control of Three Mass System

Ali Tavakoli, Yildirim Hurmuzlu
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 2, 141-148, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4194
https://doi.org/10.1115/DSCC2010-4194
View Paper titled, Gravity Powered Locomotion and Active Control of Three Mass System
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Topics: Chain, Control equipment, Dynamic systems, Dynamics (Mechanics), Gravity (Force), Robotics
Proceedings Papers

Motion Planning Under External Constraints for Redundant Dynamic Systems

Joo H. Kim, Karim Abdel-Malek, Yujiang Xiang, Jingzhou James Yang, Jasbir S. Arora
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 2, 263-270, September 12–15, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2010-4275
https://doi.org/10.1115/DSCC2010-4275
View Paper titled, Motion Planning Under External Constraints for Redundant Dynamic Systems
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Topics: Dynamic systems, Path planning, Stress, Actuators, Dynamics (Mechanics), Equilibrium (Physics), Gravity (Force), Inertia (Mechanics), Manipulators, Optimization algorithms
Proceedings Papers

A Simulation Study of a Reduced-Gravity Simulator for Simulating Human Jumping and Walking in a Reduced-Gravity Environment

Qi Lu, Jesse McAvoy, Ou Ma
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 2, 763-770, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2629
https://doi.org/10.1115/DSCC2009-2629
View Paper titled, A Simulation Study of a Reduced-Gravity Simulator for Simulating Human Jumping and Walking in a Reduced-Gravity Environment
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Topics: Gravity (Force), Simulation, Astronauts, Computer simulation, Degrees of freedom, Dynamic response, Dynamic systems, Safety, Simulation results, Springs
Proceedings Papers

Gravity Powered Locomotion and Active Control of Two Simple Systems

Ali Tavakoli, Yildirim Hurmuzlu
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 1, 379-386, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2699
https://doi.org/10.1115/DSCC2009-2699
View Paper titled, Gravity Powered Locomotion and Active Control of Two Simple Systems
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Topics: Gravity (Force), Robots, Biology, Chain, Dynamics (Mechanics)