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Proceedings Papers

Design and Fuzzy Control of the Shark Robot-Fish Dorsal Fin Using SMA

Behnam Aghbali, Aghil Yousefi-Koma
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 585-591, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24209
https://doi.org/10.1115/ESDA2010-24209
View Paper titled, Design and Fuzzy Control of the Shark Robot-Fish Dorsal Fin Using SMA
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Topics: Design, Fuzzy control, Robots, Wire, Control equipment, Actuators, Heating and cooling, Manufacturing, Nickel titanium alloys, Rotation
Proceedings Papers

Design and Analysis of a Foot Contact Sensor for Posture Control of a Biped Robot

Koray K. S¸afak, T. Batuhan Baturalp
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 669-673, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24588
https://doi.org/10.1115/ESDA2010-24588
View Paper titled, Design and Analysis of a Foot Contact Sensor for Posture Control of a Biped Robot
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Topics: Design, Robots, Sensors, Computation, Force sensors, Stability, Computer simulation, Corners (Structural elements), Dimensions, Dynamic stability
Proceedings Papers

A Novel Method for Robust Control Using Taguchi Method and Genetic Algorithm in QFT Controller

Ali Akbar Akbari, Amir homayun Samiee, Pouria Naeemi Amini, Danial Fallah
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 743-749, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-25026
https://doi.org/10.1115/ESDA2010-25026
View Paper titled, A Novel Method for Robust Control Using Taguchi Method and Genetic Algorithm in QFT Controller
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Topics: Control equipment, Genetic algorithms, Quantum field theory, Robust control, Taguchi methods, Robots, Uncertainty, Design, Optimization, Engineering design processes
Proceedings Papers

Gain Scheduling Fuzzy Sliding Mode Strategy for Robotic Motion Control

Shiuh-Jer Huang, Shian-Shin Wu, You-Min Huang
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 593-599, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24249
https://doi.org/10.1115/ESDA2010-24249
View Paper titled, Gain Scheduling Fuzzy Sliding Mode Strategy for Robotic Motion Control
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Topics: Gain scheduling, Motion control, Robotics, Sliding mode control
Proceedings Papers

Trajectory Planning for Tricycle Mobile Manipulator With Moving Boundary Conditions Using Optimal Control Approach

Moharam H. Korayem, Mojtaba Abolhasani, Vahid Azimirad, Hassan Ansari
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 751-757, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-25060
https://doi.org/10.1115/ESDA2010-25060
View Paper titled, Trajectory Planning for Tricycle Mobile Manipulator With Moving Boundary Conditions Using Optimal Control Approach
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Topics: Boundary-value problems, Manipulators, Optimal control, Trajectories (Physics), Robots, Cables, Differential equations, Dynamics (Mechanics), Equations of motion, Simulation results
Proceedings Papers

Development of an R-Cube-Based General Purpose Haptic Device System

Tunc¸ Bilgincan, Mehmet I˙smet Can Dede
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 675-682, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24596
https://doi.org/10.1115/ESDA2010-24596
View Paper titled, Development of an R-Cube-Based General Purpose Haptic Device System
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Topics: Haptics, Design, Actuators, Electrical discharge machining, Electromechanical devices, End effectors, Kinematics, Laser cutting, Manufacturing, Milling
Proceedings Papers

Optimal Path Planning for Painting Robots

A. Gasparetto, R. Vidoni, E. Saccavini, D. Pillan
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 601-608, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24259
https://doi.org/10.1115/ESDA2010-24259
View Paper titled, Optimal Path Planning for Painting Robots
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Topics: Painting robots, Path planning, Computer-aided design, Shapes, Algorithms, Computer programming, Matlab, Painting, Robots, Sprays
Proceedings Papers

Indoor Environmental Mapping by Means of Autonomous Guided Agents

Maurizio Galetto, Luca Mastrogiacomo, Barbara Pralio, Cristina Spagnolo
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 759-767, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-25224
https://doi.org/10.1115/ESDA2010-25224
View Paper titled, Indoor Environmental Mapping by Means of Autonomous Guided Agents
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Topics: Engineering prototypes, Regulations, Sensors, Space, Vehicles, Wireless sensor networks
Proceedings Papers

Catching Continuum Between Preshape and Grasping Based on Fluidics

Baris Ozyer, Ismet Erkmen, Aydan M. Erkmen
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 683-691, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24632
https://doi.org/10.1115/ESDA2010-24632
View Paper titled, Catching Continuum Between Preshape and Grasping Based on Fluidics
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Topics: Grasping, Particulate matter, Momentum, Fluids, End effectors, Energy dissipation, Fluid dynamics, Hydrodynamics, Simulation
Proceedings Papers

Trajectory Planning for Manufacturing Robots: Algorithm Definition and Experimental Results

Alessandro Gasparetto, Albano Lanzutti, Renato Vidoni, Vanni Zanotto
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 609-618, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24260
https://doi.org/10.1115/ESDA2010-24260
View Paper titled, Trajectory Planning for Manufacturing Robots: Algorithm Definition and Experimental Results
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Topics: Algorithms, Manufacturing, Robots, Splines, Trajectories (Physics)
Proceedings Papers

The Effect of Foot Mass on Bifurcation and Chaotic Behavior of a Simple Passive Walking Biped Model

Siavash Tayefi, Abdolreza Ohadi
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 633-638, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24488
https://doi.org/10.1115/ESDA2010-24488
View Paper titled, The Effect of Foot Mass on Bifurcation and Chaotic Behavior of a Simple Passive Walking Biped Model
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Topics: Bifurcation, Robots, Dimensions, Fractals
Proceedings Papers

Design Optimization of Gimbal Robotic Joints Based on Task Space Manipulability

Foad Mohammadi, Iman Hemmatian, Kambiz Ghaemi Osgouie
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 567-572, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24032
https://doi.org/10.1115/ESDA2010-24032
View Paper titled, Design Optimization of Gimbal Robotic Joints Based on Task Space Manipulability
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Topics: Design, Optimization, Robotics, Manipulators, Genetic algorithms, Robots
Proceedings Papers

A Simulation Based Framework for Discovering Planning Logic for Autonomous Unmanned Surface Vehicles

Petr Svec, Max Schwartz, Atul Thakur, Davinder K. Anand, Satyandra K. Gupta
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 711-720, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24894
https://doi.org/10.1115/ESDA2010-24894
View Paper titled, A Simulation Based Framework for Discovering Planning Logic for Autonomous Unmanned Surface Vehicles
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Topics: Simulation, Vehicles, Boats, Virtual reality, Blocks (Building materials), Computer programming, Computers, Control equipment
Proceedings Papers

Performance Analysis of Planar Cable-Based Parallel Manipulators

Damiano Zanotto, Giulio Rosati, Aldo Rossi
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 789-798, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-25282
https://doi.org/10.1115/ESDA2010-25282
View Paper titled, Performance Analysis of Planar Cable-Based Parallel Manipulators
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Topics: Cables, Manipulators, Design, Weight (Mass), End effectors, Haptics, Kinematics, Mechanical impedance, Optimization
Proceedings Papers

Design and Implementation of an Electrically Control Circuit for Undulating Fins of Fish-Like Robot

Ahmad Ghanbari, Mohsen Siahmansouri, Mir Masoud Seyyed Fakhrabadi, Seyyed Reza Hashemi Nesaz
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 639-645, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24535
https://doi.org/10.1115/ESDA2010-24535
View Paper titled, Design and Implementation of an Electrically Control Circuit for Undulating Fins of Fish-Like Robot
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Topics: Circuits, Design, Fins, Robots, Servomotors, Control panels, Density, Signals
Proceedings Papers

Dynamic Modeling and Analysis of a 3 PRS Parallel Mechanism Using Constrained Robotic Approach

Meng-Shiun Tsai, Wei-Hsiung Yuan
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 573-578, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24200
https://doi.org/10.1115/ESDA2010-24200
View Paper titled, Dynamic Modeling and Analysis of a 3 PRS Parallel Mechanism Using Constrained Robotic Approach
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Topics: Dynamic modeling, Parallel mechanisms, Robotics, Dynamics (Mechanics), Engineering simulation, Geometry, Manipulators, Simulation, Structural mechanics, Torque
Proceedings Papers

The Generalized Jacobian Matrix and the Manipulators Kinetostatic Properties

Simone Cinquemani, Hermes Giberti, Giovanni Legnani
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 721-729, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24919
https://doi.org/10.1115/ESDA2010-24919
View Paper titled, The Generalized Jacobian Matrix and the Manipulators Kinetostatic Properties
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Topics: Jacobian matrices, Manipulators, Errors, Actuators, Robots, Theoretical analysis
Proceedings Papers

A Cable-Suspended Robot With a Novel Cable Based End Effector

Omid Saber, Soroush Abyaneh, Hassan Zohoor
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 799-808, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-25312
https://doi.org/10.1115/ESDA2010-25312
View Paper titled, A Cable-Suspended Robot With a Novel Cable Based End Effector
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Topics: Cables, End effectors, Robots
Proceedings Papers

Stiffness Analysis of a Spatial Parallel Mechanism With Flexible Moving Platform

Amir Rezaei, Alireza Akbarzadeh, Javad Enferadi
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 647-655, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24560
https://doi.org/10.1115/ESDA2010-24560
View Paper titled, Stiffness Analysis of a Spatial Parallel Mechanism With Flexible Moving Platform
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Topics: Finite element methods, Kinematics, Parallel mechanisms, Stiffness
Proceedings Papers

Design and Control of a 13-DOF Biped Robot Using Human Gait

Reza Naghibi, Alireza Akbarzadeh Tootoonchi
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 731-736, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24966
https://doi.org/10.1115/ESDA2010-24966
View Paper titled, Design and Control of a 13-DOF Biped Robot Using Human Gait
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Topics: Design, Robots, Trajectories (Physics), Degrees of freedom, Motors, Actuators, Dampers, Humanoid robots, Knee, Springs