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Proceedings Papers

Inverse Kinematic Analysis of Muscular Hydrostat Inspired Soft Robot With Chain-Like Optimization With an Embedded Controller

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Amir Hosein Zamanian, Edmond Richer
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T06A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3247
https://doi.org/10.1115/DSCC2020-3247
View Paper titled, Inverse Kinematic Analysis of Muscular Hydrostat Inspired Soft Robot With Chain-Like Optimization With an Embedded Controller
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Topics: Chain, Control equipment, Kinematic analysis, Optimization, Robots, Algorithms, Kinematics, End effectors, Errors, Simulation results
Proceedings Papers

Modeling Analysis of the Wrist Dynamics via an Ellipsoidal Joint

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Jiamin Wang, Sunit K. Gupta, Oumar Barry
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T08A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3127
https://doi.org/10.1115/DSCC2020-3127
View Paper titled, Modeling Analysis of the Wrist Dynamics via an Ellipsoidal Joint
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Topics: Biomechanics, Computer simulation, Damping, Dynamics (Mechanics), Engineering simulation, Kinematics, Limit cycles, Modeling, Modeling analysis, Nonlinear dynamics
Proceedings Papers

Modelica-Based Control of a Delta Robot

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Ahmed Okasha, Scott A. Bortoff
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3158
https://doi.org/10.1115/DSCC2020-3158
View Paper titled, Modelica-Based Control of a Delta Robot
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Topics: Robots, Control algorithms, Simulation, Collisions (Physics), Computer simulation, Design, Differential algebraic equations, Dynamic models, Feedback, Kinematics
Proceedings Papers

Sensing and Classification of Ambient Vortex Wake From the Kinematics of a Bioinspired Swimming Robot Using Neural Networks

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Beau Pollard, Phanindra Tallapragada
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A011, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3282
https://doi.org/10.1115/DSCC2020-3282
View Paper titled, Sensing and Classification of Ambient Vortex Wake From the Kinematics of a Bioinspired Swimming Robot Using Neural Networks
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Topics: Artificial neural networks, Biomimetics, Kinematics, Robots, Vortices, Wakes, Flow (Dynamics), Fluid dynamics, Fluids, Pressure
Proceedings Papers

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

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Violet Mwaffo, Pietro De Lellis, Sean Humbert
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3162
https://doi.org/10.1115/DSCC2020-3162
View Paper titled, Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces
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Topics: Computer simulation, Design, Dynamics (Mechanics), Gravel, Kinematics, Mobile robots, Noise (Sound), Roads, Robotics, Robots
Proceedings Papers

Formation Control for Underactuated Surface Vessel Networks

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Bo Wang, Sergey Nersesov, Hashem Ashrafiuon
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3178
https://doi.org/10.1115/DSCC2020-3178
View Paper titled, Formation Control for Underactuated Surface Vessel Networks
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Topics: Vessels, Errors, Actuators, Dynamic models, Dynamics (Mechanics), Algebra, Cascades (Fluid dynamics), Closed loop systems, Control algorithms, Degrees of freedom
Proceedings Papers

Roll Maneuverability of Flapping Flight Winged Systems

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Hamid Vejdani
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A010, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3309
https://doi.org/10.1115/DSCC2020-3309
View Paper titled, Roll Maneuverability of Flapping Flight Winged Systems
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Topics: Flight, Wings, Equations of motion, Inertia (Mechanics), Kinematics
Proceedings Papers

Cooperative Localization of Vehicles in Three-Dimensional Space

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Juan Carlos Oliveros, Hashem Ashrafiuon
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3206
https://doi.org/10.1115/DSCC2020-3206
View Paper titled, Cooperative Localization of Vehicles in Three-Dimensional Space
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Topics: Vehicles, Algorithms, Multi-agent systems, Dynamics (Mechanics), Engineering simulation, Kalman filters, Kinematics, Mobile robots, Model vehicles, Signals
Proceedings Papers

Design and Analysis of a New Mechanism for a Snake Like Robot

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Johnathon Garcia, Kooktae Lee
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T18A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3204
https://doi.org/10.1115/DSCC2020-3204
View Paper titled, Design and Analysis of a New Mechanism for a Snake Like Robot
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Topics: Design, Robots, Silicones, Skin, Additive manufacturing, Friction, Kinematics
Proceedings Papers

On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation

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Jiamin Wang, Oumar Barry, Andrew J. Kurdila, Sujith Vijayan
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T27A008, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9118
https://doi.org/10.1115/DSCC2019-9118
View Paper titled, On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation
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Topics: Dynamics (Mechanics), Exoskeleton devices, Kinematics, Design, Algorithms, Construction, Control equipment, Control systems, Diseases, Dynamic analysis
Proceedings Papers

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

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Vikram Ramanathan, Andy Zelenak, Mitch Pryor
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, V003T17A005, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9123
https://doi.org/10.1115/DSCC2019-9123
View Paper titled, Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control
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Topics: Control modeling, Kinematics, Rotation, Wheels, Control equipment, Braking, Chatter, Design, Engineering simulation, Feedback
Proceedings Papers

Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle

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Yuanyan Chen, J. Jim Zhu, Letian Lin
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, V003T21A007, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9104
https://doi.org/10.1115/DSCC2019-9104
View Paper titled, Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle
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Topics: Tracking control, Trajectories (Physics), Vehicles, Design, Kinematics, Control equipment, Dynamics (Mechanics), Hardware, Collisions (Physics), Nonlinear dynamics
Proceedings Papers

A New Approach to Model Constant Curvature Continuum Robot Dynamics

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Yujiong Liu, Pinhas Ben-Tzvi
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, V003T20A001, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8999
https://doi.org/10.1115/DSCC2019-8999
View Paper titled, A New Approach to Model Constant Curvature Continuum Robot Dynamics
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Topics: Computer simulation, Dynamic models, Dynamics (Mechanics), Equations of motion, Kinematics, Mechanical admittance, Real-time control, Robot dynamics, Robots, Virtual work principle
Proceedings Papers

Contact Force and Position Tracking With a Planar Aerial Manipulator

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Varun R. Mittal, Vivek Sangwan
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, V001T03A010, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9132
https://doi.org/10.1115/DSCC2019-9132
View Paper titled, Contact Force and Position Tracking With a Planar Aerial Manipulator
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Topics: Manipulators, Unmanned aerial vehicles, Control equipment, Rotors, Vehicles, Aircraft, Construction, Engineering simulation, Imaging, Kinematics
Proceedings Papers

Calibration and Validation of Dynamic Model for Simulating Robotic Finger Kinematics and Contact Forces

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James A. Tigue, Stephen A. Mascaro
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, V001T03A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8961
https://doi.org/10.1115/DSCC2019-8961
View Paper titled, Calibration and Validation of Dynamic Model for Simulating Robotic Finger Kinematics and Contact Forces
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Topics: Calibration, Dynamic models, Kinematics, Robotics, Tendons, Engineering simulation, Experimental methods, Modeling, Simulation
Proceedings Papers

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

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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

Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces

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Chaohui Gong, Zhongqiang Ren, Julian Whitman, Jaskaran Grover, Baxi Chong, Howie Choset
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T32A013, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9144
https://doi.org/10.1115/DSCC2018-9144
View Paper titled, Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces
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Topics: Path planning, Shapes, Space, Trajectories (Physics), Dimensions, Displacement, Kinematics, Particle spin, Robotics, Rotation
Proceedings Papers

Design and Validation of a Torque Controllable Hip Exoskeleton for Walking Assistance

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Inseung Kang, Hsiang Hsu, Aaron J. Young
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T12A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9198
https://doi.org/10.1115/DSCC2018-9198
View Paper titled, Design and Validation of a Torque Controllable Hip Exoskeleton for Walking Assistance
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Topics: Design, Exoskeleton devices, Torque, Testing, Control equipment, Actuators, Control algorithms, Glass reinforced plastics, Kinematics, Mechanical admittance
Proceedings Papers

Design and Evaluation of a Proportional Myoelectric Controller for Hip Exoskeletons During Walking

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Hsiang Hsu, Inseung Kang, Aaron J. Young
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T13A005, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9226
https://doi.org/10.1115/DSCC2018-9226
View Paper titled, Design and Evaluation of a Proportional Myoelectric Controller for Hip Exoskeletons During Walking
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Topics: Control equipment, Design, Exoskeleton devices, Torque, Electromyography, Actuators, Feedback, Kinematics, Muscle, Performance
Proceedings Papers

Control and Experimental Validation of a Powered Knee and Ankle Prosthetic Device

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Krishan Bhakta, Jonathan Camargo, Aaron J. Young
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T12A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9218
https://doi.org/10.1115/DSCC2018-9218
View Paper titled, Control and Experimental Validation of a Powered Knee and Ankle Prosthetic Device
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Topics: Knee, Prostheses, Control equipment, Actuators, Design, Kinematics, Machinery, Seas, Testing, Torque control