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Proceedings Papers

Proceedings Volume Cover
ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 2–5, 2015
Boston, Massachusetts, USA
Conference Sponsors:
  • Design Engineering Division
  • Computers and Information in Engineering Division
ISBN:
978-0-7918-5712-0
Volume 5A: 39th Mechanisms and Robotics Conference

39th Mechanisms and Robotics Conference

Compliant Mechanisms and Micro/Nano Mechanisms (A. Midha Symposium)

Extended Nonlinear Analysis of Exactly-Constrained Compliant Compound Parallelogram Mechanisms
Guangbo Hao, Haiyang Li, George Joseph
IDETC-CIE 2015; V05AT08A001https://doi.org/10.1115/DETC2015-46158
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Topics: Displacement , Dynamic analysis , Excitation , Finite element analysis , Stiffness , Temperature , Temperature effects
Synthesis of Constant Torque Compliant Mechanisms
Hong Zhou, Hari Nair Prakashah
IDETC-CIE 2015; V05AT08A002https://doi.org/10.1115/DETC2015-46179
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Topics: Compliant mechanisms , Torque , Rotation , Splines , Interpolation , Aerospace industry , Automobiles , Biomedicine , Design , Health care
Modeling Large Spatial Deflections of Slender Bisymmetric Beams in Compliant Mechanisms Using Chained Spatial-Beam-Constraint-Model (CSBCM)
Guimin Chen, Ruiyu Bai
IDETC-CIE 2015; V05AT08A003https://doi.org/10.1115/DETC2015-46387
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Topics: Compliant mechanisms , Deflection , Modeling , Finite element analysis , Stress
Compliant Mechanism Reconfiguration Based on Position Space Concept for Reducing Parasitic Motion
Haiyang Li, Guangbo Hao
IDETC-CIE 2015; V05AT08A004https://doi.org/10.1115/DETC2015-46434
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Topics: Compliant mechanisms , Parallel mechanisms , Space , Finite element analysis , Screws
Topology Optimization of Large-Displacement Flexure Hinges
Min Liu, Xianmin Zhang, Sergej Fatikow
IDETC-CIE 2015; V05AT08A005https://doi.org/10.1115/DETC2015-46444
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Topics: Bending (Stress) , Displacement , Hinges , Optimization , Topology , Compliant mechanisms , Design , Equilibrium (Physics) , Finite element analysis , Modeling
Constraint-Force-Based (CFB) Modeling of Compliant Mechanisms
Haiyang Li, Guangbo Hao
IDETC-CIE 2015; V05AT08A006https://doi.org/10.1115/DETC2015-46481
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Topics: Compliant mechanisms , Modeling , Equilibrium (Physics) , Deformation , Finite element analysis , Space
Pseudo-Rigid-Body Models for End-Loaded Heavy Cantilever Beams
Philip J. Logan, Craig P. Lusk
IDETC-CIE 2015; V05AT08A007https://doi.org/10.1115/DETC2015-46526
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Topics: Cantilever beams , Stress , Deflection , Compliant mechanisms , Design , Differential equations , Errors , Phase space , Springs , Stiffness
An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
Marijn Nijenhuis, J. P. Meijaard, Just L. Herder, Shorya Awtar, Dannis M. Brouwer
IDETC-CIE 2015; V05AT08A008https://doi.org/10.1115/DETC2015-46591
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Topics: Bending (Stress) , Stiffness , Strips , Deformation , Flexure mechanisms , Warping , Computer software , Degrees of freedom , Displacement , Errors
A Method for Determining Load-Dependent Stiffness of Flexures
Ezekiel G. Merriam, Jared T. Bruton, Spencer P. Magleby, Larry L. Howell
IDETC-CIE 2015; V05AT08A009https://doi.org/10.1115/DETC2015-46628
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Topics: Stiffness , Stress , Bending (Stress) , Finite element model , Rotation
A Shape-Controlled Compliant Microarchitectured Material
Lucas A. Shaw, Jonathan B. Hopkins
IDETC-CIE 2015; V05AT08A010https://doi.org/10.1115/DETC2015-46643
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Topics: Shapes , Aircraft , Deformation , Design , Fuel efficiency , Materials properties , Modeling , Optics , Texture (Materials) , Wings
A Variable-Stiffness Straight-Line Compliant Mechanism
Jeffrey C. Hawks, Mark B. Colton, Larry L. Howell
IDETC-CIE 2015; V05AT08A011https://doi.org/10.1115/DETC2015-46650
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Topics: Compliant mechanisms , Stiffness , Haptics , Displacement , Finite element analysis , Anterior cruciate ligament , Deflection , Engineering prototypes , Feedback , Force feedback
Design of a Constant-Force Flexure Micropositioning Stage With Long Stroke
Qingsong Xu
IDETC-CIE 2015; V05AT08A012https://doi.org/10.1115/DETC2015-46672
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Topics: Bending (Stress) , Design , Flexure mechanisms , Compliant mechanisms , Finite element analysis , Parametric design , Stiffness
Dynamic Modeling for a Continuum Robot With Compliant Structure
Yong Guo, Rongjie Kang, Lisha Chen, Jian Dai
IDETC-CIE 2015; V05AT08A013https://doi.org/10.1115/DETC2015-46683
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Topics: Dynamic modeling , Robots , Control modeling , Dampers , Deformation , Design , Dynamic models , Engineering prototypes , Robotics , Safety
A Fully Compliant Constant Velocity Universal Joint
D. Farhadi Machekposhti, N. Tolou, J. L. Herder
IDETC-CIE 2015; V05AT08A014https://doi.org/10.1115/DETC2015-46813
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Topics: Universal joints , Kinematics , Deflection , Engineering prototypes , Linkages , Manufacturing , Rotation
Conceptual Design of 2-DOF Flexure-Based Sensing Mechanisms for Superconductor Gravity Gradient
M. Jia, R. P. Jia, J. J. Yu
IDETC-CIE 2015; V05AT08A015https://doi.org/10.1115/DETC2015-46827
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Topics: Bending (Stress) , Conceptual design , Gravity (Force) , Errors , Finite element analysis , Engineering simulation , Optimization , Screws , Simulation , Topology
Design of Control Strategy for a Novel Compliant Flexure-Based Microgripper With Two Jaws
Zhigang Wu, Yangmin Li
IDETC-CIE 2015; V05AT08A016https://doi.org/10.1115/DETC2015-46869
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Topics: Bending (Stress) , Design , Dynamic models , Actuators , Levers , Magnification , Nonlinear systems , Optimization , Simulation results , Sliding mode control
On Synthesis of Contact Aided Compliant Mechanisms Using the Material Mask Overlay Method
Prabhat Kumar, Roger A. Sauer, Anupam Saxena
IDETC-CIE 2015; V05AT08A017https://doi.org/10.1115/DETC2015-47064
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Topics: Compliant mechanisms , Overlays (Materials engineering) , Shapes , Design , Deformation , Finite element analysis , Stress , Topology
Review, Categorization and Comparison of 1 DOF Static Balancers
Asthor T. Steinthorsson, Milton E. Aguirre, Gerard Dunning, Just L. Herder
IDETC-CIE 2015; V05AT08A018https://doi.org/10.1115/DETC2015-47217
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Topics: Bending (Stress) , Design , Energy storage , Engines , Feedback , Haptics , Motors , Robotics , Stress , Surgical tools
Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms
Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
IDETC-CIE 2015; V05AT08A019https://doi.org/10.1115/DETC2015-47240
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Topics: Compliant mechanisms , Design , Springs , Traction , Additive manufacturing , Friction , Geometry , Materials properties , Rubber , Torsion
Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models
Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
IDETC-CIE 2015; V05AT08A020https://doi.org/10.1115/DETC2015-47267
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Topics: Geometry , Deformation , Accounting , Compliant mechanisms , Finite element analysis , Optimization , Stress
Design of a Compliant XY Positioning Stage With Large Workspace
Chao-Min Huang, Hai-Jun Su
IDETC-CIE 2015; V05AT08A021https://doi.org/10.1115/DETC2015-47271
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Topics: Design , Finite element analysis , Flexure mechanisms , Kinematics , Rotation , Ball bearings , Degrees of freedom , Maintenance , Radium , Wear
Experimental Validation of the Kinematics of a 3PRS Compliant Mechanism for Micromilling
Antonio Ruiz, Francisco Campa Gomez, Constantino Roldan-Paraponiaris, Oscar Altuzarra
IDETC-CIE 2015; V05AT08A022https://doi.org/10.1115/DETC2015-47449
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Topics: Compliant mechanisms , Kinematics , Micromilling , Manipulators , Finite element methods , Finite element model , Milling , Parallel mechanisms , Control equipment , Cutting
Shape-Morphing Space Frame (SMSF) Using Linear Bistable Elements
Ahmad Alqasimi, Craig Lusk
IDETC-CIE 2015; V05AT08A023https://doi.org/10.1115/DETC2015-47526
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Topics: Shapes , Space frame structures , Pipes , Design , Shear (Mechanics) , Shells , Spherical shells , Stress
Mode Shapes in Compliant Mechanisms, and a Procedure to Identify Appropriate Pseudo-Rigid-Body Model Type
Ashok Midha, Pratheek Bagivalu Prasanna
IDETC-CIE 2015; V05AT08A024https://doi.org/10.1115/DETC2015-47694
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Topics: Compliant mechanisms , Mode shapes , Boundary-value problems , Classical mechanics , Deformation , Displacement , Energy storage , Mechanical admittance , Stress
Flexure Design for Eight-Bar Rectilinear Motion Mechanism
Yang Liu, J. Michael McCarthy
IDETC-CIE 2015; V05AT08A025https://doi.org/10.1115/DETC2015-47863
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Topics: Bending (Stress) , Design , Linkages , Microelectromechanical systems , End effectors , Errors
Limitations in the Use of Small-Length Flexural Pivot in a Pseudo-Rigid-Body Model
Vamsi Lodagala, Krutika Karthik, Ashok Midha
IDETC-CIE 2015; V05AT08A026https://doi.org/10.1115/DETC2015-47914
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Topics: Deflection , Errors , Modeling
Mechanical Advantage of a Compliant Mechanism and Significant Factors Affecting it, Using the Pseudo-Rigid-Body Model Approach
Ashok Midha, Sushrut G. Bapat, Prem Midha
IDETC-CIE 2015; V05AT08A027https://doi.org/10.1115/DETC2015-47930
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Topics: Compliant mechanisms , Energy conservation , Rigid-body mechanisms
Development of a Methodology for Pseudo-Rigid-Body Models of Compliant Beams With Inserts, and Experimental Validation
Ashok Midha, Raghvendra S. Kuber, Sushrut G. Bapat
IDETC-CIE 2015; V05AT08A028https://doi.org/10.1115/DETC2015-47943
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Topics: Compliant mechanisms , Creep , Design , Fatigue life

Medical and Rehabilitation Robotics

Development and Testing of a Low Cost Wearable and Portable Hand Exoskeleton Based on a Parallel Mechanism
B. Allotta, R. Conti, L. Governi, E. Meli, A. Ridolfi
IDETC-CIE 2015; V05AT08A029https://doi.org/10.1115/DETC2015-46336
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Topics: Exoskeleton devices , Parallel mechanisms , Testing , Engineering prototypes , Cables , Grasping , Orthotics
Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool
Baoliang Zhao, Carl A. Nelson
IDETC-CIE 2015; V05AT08A030https://doi.org/10.1115/DETC2015-46344
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Topics: Biological tissues , Robotics , Surgical tools , Haptics , Sterilization , Surgery , Delays , Engines , Feedback , Force sensors
Parallel Articulated-Cable Exercise Robot (PACER): Novel Home-Based Cable-Driven Parallel Platform Robot for Upper Limb Neuro-Rehabilitation
Aliakbar Alamdari, Venkat Krovi
IDETC-CIE 2015; V05AT08A031https://doi.org/10.1115/DETC2015-46389
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Topics: Cables , Robots , Design , Trajectories (Physics) , Actuators , Case studies , Control equipment , Degrees of freedom , Equations of motion , Kinematic analysis
Robotic Physical Exercise and System (ROPES): A Cable-Driven Robotic Rehabilitation System for Lower-Extremity Motor Therapy
Aliakbar Alamdari, Venkat Krovi
IDETC-CIE 2015; V05AT08A032https://doi.org/10.1115/DETC2015-46393
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Topics: Cables , Motors , Patient treatment , Robotics , Ropes , Control equipment , Multibody systems , Case studies , Equilibrium (Physics) , Feedback
Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs
Peng Qi, Hongbin Liu, Lakmal Seneviratne, Kaspar Althoefer
IDETC-CIE 2015; V05AT08A033https://doi.org/10.1115/DETC2015-46503
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Topics: Design , Engineering prototypes , Kinematics , Robots , Springs , Finite element analysis , Rotation , Bending (Stress) , Biomedicine , Modeling
A Meso-Scale Rolling-Contact Gripping Mechanism for Robotic Surgery
Clayton L. Grames, Jordan D. Tanner, Brian D. Jensen, Spencer P. Magleby, John Ryan Steger, Larry L. Howell
IDETC-CIE 2015; V05AT08A034https://doi.org/10.1115/DETC2015-46516
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Topics: Robotics , Rolling contact , Surgery , Instrumentation , Degrees of freedom , Manufacturing , Lasers , Metals , Sintering
Design and Qualitative Testing of a Prosthetic Foot With Rotational Ankle and Metatarsal Joints to Mimic Physiological Roll-Over Shape
Kathryn M. Olesnavage, Amos G. Winter, V
IDETC-CIE 2015; V05AT08A035https://doi.org/10.1115/DETC2015-46518
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Topics: Artificial limbs , Design , Physiology , Shapes , Testing , Engineering prototypes , Feedback , Springs , Stiffness
Sensing and Force-Feedback Exoskeleton Robotic (SAFER) Glove Mechanism for Hand Rehabilitation
Zhou Ma, Pinhas Ben-Tzvi, Jerome Danoff
IDETC-CIE 2015; V05AT08A036https://doi.org/10.1115/DETC2015-46661
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Topics: Design , Exoskeleton devices , Force feedback , Force sensors , Grasping , Haptics , Kinematics , Machine learning , Patient treatment , Robotics
Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients
Tzu-Yu Tseng, Wei-Chun Hsu, Li-Fong Lin, Chin-Hsing Kuo
IDETC-CIE 2015; V05AT08A037https://doi.org/10.1115/DETC2015-46706
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Topics: Design , Gravity (Force) , Muscle , Knee , Antigravity , Electromyography , Computer software , Engineering prototypes , Rehabilitation devices , Signals
Dynamic Performance Analysis of Minimally Actuated 4-Bar Linkages for Upper Limb Rehabilitation
Evagoras G. Xydas, Andreas Mueller
IDETC-CIE 2015; V05AT08A038https://doi.org/10.1115/DETC2015-46828
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Topics: Linkages , Springs , Robots , Torque , Actuators , Closed kinematic chains , Collaboration , Computer control , Computer software , Design
Analyzing Motion Properties of Proteins Affected by Localized Structures From a Robot Kinematics Perspective
Keisuke Arikawa
IDETC-CIE 2015; V05AT08A039https://doi.org/10.1115/DETC2015-47010
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Topics: Proteins , Robot kinematics , Compliance , Shapes , Deformation , Manipulators , Prisms (Optics) , Springs
Design of a Partially Compliant, Three-Phalanx Underactuated Prosthetic Finger
Marco W. M. Groenewegen, Milton E. Aguirre, Just L. Herder
IDETC-CIE 2015; V05AT08A040https://doi.org/10.1115/DETC2015-47055
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Topics: Artificial limbs , Design , Grasping , Additive manufacturing , Bending (Stress) , Design methodology , End effectors , Engineering prototypes , Errors , Finite element analysis
Design and Control of a Three Finger Hand Exoskeleton for Translation and Rotation of a Slender Object
Shyam Sunder Nishad, Anupam Saxena, Ashish Dutta
IDETC-CIE 2015; V05AT08A041https://doi.org/10.1115/DETC2015-47058
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Topics: Design , Exoskeleton devices , Rotation , Linkages , Algorithms , Artificial neural networks , Finger joints (Carpentry) , Kinematics , Manufacturing , Motors
Design and Fabrication of a Soft Robotic Direct Cardiac Compression Device
Ellen T. Roche, Markus A. Horvath, Ali Alazmani, Kevin C. Galloway, Nikolay V. Vasilyev, David J. Mooney, Frank A. Pigula, Conor J. Walsh
IDETC-CIE 2015; V05AT08A042https://doi.org/10.1115/DETC2015-47355
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Topics: Compression , Design , Manufacturing , Robotics , Actuators , Nylon fabrics , Silicones , Biomimetics , Biological tissues , Biomedicine
Design of Mechanism and Preliminary Field Validation of Low-Cost, Passive Prosthetic Knee for Users With Transfemoral Amputation in India
V. N. Murthy Arelekatti, Amos G. Winter, V
IDETC-CIE 2015; V05AT08A043https://doi.org/10.1115/DETC2015-47385
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Topics: Artificial limbs , Design , Knee , Kinematics , Engineering prototypes , Dampers , Developing nations , Feedback , Friction , Locks (Waterways)
The Use of Additive Manufacturing to Fabricate Structural Components for Wearable Robotic Devices
Ray Churchwell, Kevin W. Hollander, Connor Theisen
IDETC-CIE 2015; V05AT08A044https://doi.org/10.1115/DETC2015-47448
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Topics: Additive manufacturing , Robotics , Structural elements (Construction) , Design , Robots , Exoskeleton devices , Modeling , Safety , Stress , Testing
Design of a Biologically Inspired Underwater Burrowing Robot That Utilizes Localized Fluidization
Daniel S. Dorsch, Amos G. Winter, V
IDETC-CIE 2015; V05AT08A045https://doi.org/10.1115/DETC2015-47459
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Topics: Design , Fluidization , Robots , Soil , Actuators , Atlantic Ocean , Drag (Fluid dynamics) , Engineering systems and industry applications , Fluids , Friction
A 4-DOF Robot for Positioning Ultrasound Imaging Catheters
Paul M. Loschak, Yaroslav Tenzer, Alperen Degirmenci, Robert D. Howe
IDETC-CIE 2015; V05AT08A046https://doi.org/10.1115/DETC2015-47693
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Topics: Catheters , Robots , Ultrasonic imaging , Errors , Imaging , Arrhythmias , Design , Instrumentation , Manufacturing , Navigation
Design and Development of a Novel Soft-and-Rigid Hybrid Actuator System for Robotic Applications
Mahdi Haghshenas-Jaryani, Wei Carrigan, Muthu B. J. Wijesundara
IDETC-CIE 2015; V05AT08A047https://doi.org/10.1115/DETC2015-47761
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Topics: Actuators , Design , Robotics , Pressure , Compression molding , Finite element analysis , Geometry , Manufacturing , Rubber , Shapes
A Theoretical Investigation of the Critical Timescales Needed for Digging in Dry Soil Using a Biomimetic Burrowing Robot
Monica Isava, Amos G. Winter, V
IDETC-CIE 2015; V05AT08A048https://doi.org/10.1115/DETC2015-47852
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Topics: Biomimetics , Robots , Soil , Drag (Fluid dynamics) , Stress , Cables , Collapse , Fluidization , Particulate matter , Sensor placement
Force Transfer Characterization of a Soft Exosuit for Gait Assistance
Brendan Quinlivan, Alan Asbeck, Diana Wagner, Tommaso Ranzani, Sheila Russo, Conor Walsh
IDETC-CIE 2015; V05AT08A049https://doi.org/10.1115/DETC2015-47871
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Topics: Design , Exoskeleton devices , Inertia (Mechanics) , Pressure , Safety , Textiles , Weight (Mass)
Robotic Neuromuscular Facilitation for Regaining Neural Activation in Hemiparetic Limbs
Jun Ueda, Lauren Lacey, Melih Turkseven, Minoru Shinohara, Ilya Kovalenko, Euisun Kim, Fatiesa Sulejmani
IDETC-CIE 2015; V05AT08A050https://doi.org/10.1115/DETC2015-48085
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Topics: Robotics , Muscle , Engines , Motors , Patient treatment , Robots , Dynamics (Mechanics) , Electromagnetic induction , Magnetic resonance imaging , Nervous system

Mobile Robots and Cable-Driven Systems

Trajectory Generation for Three-Degree-of-Freedom Cable-Suspended Parallel Robots Based on Analytical Integration of the Dynamic Equations
Xiaoling Jiang, Clément Gosselin
IDETC-CIE 2015; V05AT08A051https://doi.org/10.1115/DETC2015-46369
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Topics: Cables , Equations of motion , Robots , Trajectories (Physics) , Differential equations , Kinematics , Dynamic modeling , Jacobian matrices , Pendulums , Tension
An Innovative Navigation Strategy for Autonomous Underwater Vehicles: An Unscented Kalman Filter Based Approach
Benedetto Allotta, Riccardo Costanzi, Enrico Meli, Alessandro Ridolfi, Luigi Chisci, Claudio Fantacci, Andrea Caiti, Francesco Di Corato, Davide Fenucci
IDETC-CIE 2015; V05AT08A052https://doi.org/10.1115/DETC2015-46432
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Topics: Kalman filters , Navigation , Underwater vehicles , Algorithms , Filtration , Seas , Remotely operated vehicles , Robotics , Sensors , Industrial engineering
Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller
Mahdi Haghshenas-Jaryani, GholamReza Vossoughi
IDETC-CIE 2015; V05AT08A053https://doi.org/10.1115/DETC2015-46480
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Topics: Control equipment , Robots , Trajectories (Physics) , Kinematics , Uncertainty , Actuators , Algorithms , Coulombs , Degrees of freedom , Friction
Static Modeling of a Multi-Segment Serpentine Robotic Tail
William S. Rone, Pinhas Ben-Tzvi
IDETC-CIE 2015; V05AT08A054https://doi.org/10.1115/DETC2015-46655
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Topics: Cables , Design , Displacement , Elasticity , Equilibrium (Physics) , Kinematics , Matlab , Mobile robots , Modeling , Robotics
Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization
Joshua T. Bryson, Sunil K. Agrawal
IDETC-CIE 2015; V05AT08A055https://doi.org/10.1115/DETC2015-46837
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Topics: Cables , Design , Particle swarm optimization , Robots , Tension , Optimization , Actuators , Architecture , Manipulators
Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators
Joshua T. Bryson, Sunil K. Agrawal
IDETC-CIE 2015; V05AT08A056https://doi.org/10.1115/DETC2015-46842
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Topics: Algorithms , Cables , Design , Manipulators , Uncertainty , Robots , Actuators , Errors , Inertia (Mechanics)
Combinatorial Method for Checking Stability in Tensegrity Structures
Daniel Cahan, Offer Shai
IDETC-CIE 2015; V05AT08A057https://doi.org/10.1115/DETC2015-47143
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Topics: Stability , Tensegrity structures , Cables , Scalars , Tensegrity
Localization and Trajectory Tracking of an Autonomous Spherical Rolling Robot Using IMU and Odometry
Vibhute Akash Ajay, Adi P. Suherlan, Gim Song Soh, Shaohui Foong, Kristin Wood, Kevin Otto
IDETC-CIE 2015; V05AT08A058https://doi.org/10.1115/DETC2015-47223
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Topics: Robots , Trajectories (Physics) , Kinematics , Sensors , Wheels , Algorithms , Biomimetics , Dynamic models , Dynamics (Mechanics) , Filters
Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot
Andrew P. Sabelhaus, Hao Ji, Patrick Hylton, Yakshu Madaan, ChanWoo Yang, Alice M. Agogino, Jeffrey Friesen, Vytas SunSpiral
IDETC-CIE 2015; V05AT08A059https://doi.org/10.1115/DETC2015-47583
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Topics: Design , Robots , Simulation , Tensegrity , Cables , Kinematics , Manufacturing , Actuators , Engineering prototypes , Gears
Kinematic Analysis of a Mobile Robot Performing Manufacturing Tasks on Non-Planar Surfaces
Joshua Qualls, Stephen Canfield, Tristan Hill, Alexander Shibakov
IDETC-CIE 2015; V05AT08A060https://doi.org/10.1115/DETC2015-47637
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Topics: Kinematic analysis , Manufacturing , Mobile robots , Hull , Robots , Welding , Cylinders , Design , Pipeline construction , Robotics
Quantifying Control Authority in Periodic Motions of Underactuated Mobile Robots
David C. Post, Bill Goodwine, James P. Schmiedeler
IDETC-CIE 2015; V05AT08A061https://doi.org/10.1115/DETC2015-47666
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Topics: Control equipment , Design , Dynamics (Mechanics) , Mobile robots , Robots , Trajectories (Physics)
Design of a Passively-Adaptive Three Degree-of-Freedom Multi-Legged Robot With Underactuated Legs
Oren Y. Kanner, Nicolás Rojas, Aaron M. Dollar
IDETC-CIE 2015; V05AT08A062https://doi.org/10.1115/DETC2015-47867
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Topics: Degrees of freedom , Design , Robots , Propulsion , Actuators , Clearances (Engineering) , Engineering prototypes , Mechanical admittance , Simulation results , Surface roughness
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