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Proceedings Papers

Proceedings Volume Cover
ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 17–19, 2021
Virtual, Online
Conference Sponsors:
  • Design Engineering Division
  • Computers and Information in Engineering Division
ISBN:
978-0-7918-8545-1
Volume 8B: 45th Mechanisms and Robotics Conference (MR)

Front Matter

IDETC-CIE2021 Front Matter
IDETC-CIE 2021; V08BT00A001https://doi.org/10.1115/DETC2021-FM8B
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45th Mechanisms and Robotics Conference (MR)

Motion Planning, Dynamics, and Control of Robots

Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger
Shangling Qiao, Yichen Wang, Hongwei Guo, Hong Xiao, Zongquan Deng
IDETC-CIE 2021; V08BT08A001https://doi.org/10.1115/DETC2021-67340
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Topics: Cables , Robotics , Engines , Motors , Pulleys , Tendons , Design , Equilibrium (Physics) , Linkages , Simulation experiments
Cost of Controls for Multi-Rotor Drones
Samantha Hoang, I. Y. Shen
IDETC-CIE 2021; V08BT08A002https://doi.org/10.1115/DETC2021-67816
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Topics: Rotors , Unmanned aerial vehicles , Control equipment , Trajectories (Physics) , Errors , Control systems , Energy efficiency , Flight , Open loop systems , Design
Tuning Motion of Musical Saw With a Humanoid Robot for Industrial Automation Based on a Sound Feed-Back Process
Hiroaki Hanai, Atsuyuki Miura, Toshiki Hirogaki, Eiichi Aoyama
IDETC-CIE 2021; V08BT08A003https://doi.org/10.1115/DETC2021-68287
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Topics: Finite element analysis , Humanoid robots , Robots , Acoustics , Instrumentation , Displacement , Jigs and fixtures , Real-time control , Sound pressure
Trajectory Planning for a 3-SPS-U Tensegrity Mechanism
Swaminath Venkateswaran, Damien Chablat
IDETC-CIE 2021; V08BT08A004https://doi.org/10.1115/DETC2021-69957
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Topics: Tensegrity mechanisms , Trajectories (Physics) , Control equipment , Junctions , Motors , Robots , Springs , Algorithms , Cables , Errors
Optimal Control of a 5-Link Biped Using Quadratic Polynomial Model of Two-Point Boundary Value Problem
Ernesto Hernandez-Hinojosa, Aykut Satici, Pranav A. Bhounsule
IDETC-CIE 2021; V08BT08A005https://doi.org/10.1115/DETC2021-70733
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Topics: Boundary-value problems , Optimal control , Polynomials , Real-time control , Ditches , Feedback , Robots , Simulation
A New Robot Path Planning Method Based on LSTM Neural Network and Rapidly-Exploring Random Tree Algorithm
Weifei Hu, Feng Tang, Zhenyu Liu, Jianrong Tan
IDETC-CIE 2021; V08BT08A006https://doi.org/10.1115/DETC2021-71234
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Topics: Algorithms , Artificial neural networks , Path planning , Robots
Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface
Stanley Mugisha, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, Damien Chablat
IDETC-CIE 2021; V08BT08A007https://doi.org/10.1115/DETC2021-71518
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Topics: Collaboration , Robots , Virtual reality , Haptics , Robotics , Algorithms , Collisions (Physics) , End effectors , Mechanical admittance , Safety
Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances
Ademola Oridate, Mitchell Pryor, Carolyn Seepersad
IDETC-CIE 2021; V08BT08A008https://doi.org/10.1115/DETC2021-71602
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Topics: Aircraft , Collisions (Physics) , Computer-aided design , End effectors , Manipulators , Redundancy (Engineering) , Robot motion , Robots , Shapes , Trajectories (Physics)
Feedback Control of the Locomotion of a Tailed Quadruped Robot
Yujiong Liu, Pinhas Ben-Tzvi
IDETC-CIE 2021; V08BT08A009https://doi.org/10.1115/DETC2021-71611
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Topics: Feedback , Robots , Control equipment , Degrees of freedom , Pendulums , Propulsion , Robotics
Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation
Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, Sami Haddadin, Nilanjan Chakraborty
IDETC-CIE 2021; V08BT08A010https://doi.org/10.1115/DETC2021-71814
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Topics: Interpolation , Kinematics , Path planning , Screws , Robots , Trajectories (Physics) , Assembly lines , Generators , Manufacturing , Redundancy (Engineering)
Reduced-Order Model With Foot Tipping Allowance for Legged Balancing
William Z. Peng, Hyunjong Song, Joo H. Kim
IDETC-CIE 2021; V08BT08A011https://doi.org/10.1115/DETC2021-71976
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Topics: Clearances (Engineering) , Pendulums , Optimization , Trajectories (Physics) , Engineering simulation , Flywheels , Nonlinear programming , Simulation , Stability
Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance
Anirban Sinha, Anik Sarker, Nilanjan Chakraborty
IDETC-CIE 2021; V08BT08A012https://doi.org/10.1115/DETC2021-72009
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Topics: Collisions (Physics) , End effectors , Interpolation , Kinematics , Path planning , Robots , Screws , Simulation , Space utilization (Design)

Novel Mechanisms, Robots, and Applications

Delta Based Non-Anthropomorphic Hand
Rajesh Kumar, Sachin Kansal, Sudipto Mukherjee
IDETC-CIE 2021; V08BT08A013https://doi.org/10.1115/DETC2021-67349
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Topics: Actuators , Design , End effectors , Feedback , Oscillations , Robotics , Robots , Springs
Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method
Jiawei Tian, Xianfeng David Gu, Shikui Chen
IDETC-CIE 2021; V08BT08A014https://doi.org/10.1115/DETC2021-67821
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Topics: Optimization , Robots , Topology , Actuators , Elastomers , Magnetic fields , Shapes , Kinematics , Adaptive structures , Bionics
Approximating Hinges With Multimaterial Compliant Joints
Independence Talken, Zijuan Liang, Mark Plecnik
IDETC-CIE 2021; V08BT08A015https://doi.org/10.1115/DETC2021-67865
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Topics: Hinges , Stiffness , Design , Approximation , Tradeoffs , Additive manufacturing , Friction , Kinematics , Urethane elastomers , Wear
Mechanical Design of a New Anthropomorphic Robot for Fastening in Wing-Box
Jiefeng Jiang, Fengfeng (Jeff) Xi, Jingjing You, Qunxing Xue
IDETC-CIE 2021; V08BT08A016https://doi.org/10.1115/DETC2021-68098
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Topics: Design engineering , Humanoid robots , Shapes , Wings
AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment
Raja Manish, Ze An, Ayman Habib, Mitchell R. Tuinstra, David J. Cappelleri
IDETC-CIE 2021; V08BT08A017https://doi.org/10.1115/DETC2021-68143
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Topics: Robotics , Sensors , Design , Feedback , Resolution (Optics) , Robots
Modular Foldable Airship Concept for Subterranean Exploration
Jorge Esteban Salas Gordoniz, Nicolas Reeves, David St-Onge
IDETC-CIE 2021; V08BT08A018https://doi.org/10.1115/DETC2021-69954
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Topics: Caves , Design , Engineering prototypes , Kinematics , Robotics , Structural design , Tunnels , Vehicles
Modeling and Design Exploration of Tensegrity Plate Mechanisms With Energy Dissipation Capabilities Enabled by Shape Memory Alloys
Pedro Silva, Edwin A. Peraza Hernandez
IDETC-CIE 2021; V08BT08A019https://doi.org/10.1115/DETC2021-70025
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Topics: Design , Energy dissipation , Modeling , Shape memory alloys , Tensegrity , Plates (structures) , String , Stress , Aerospace industry , Compression
Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function
Dongming Gan, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
IDETC-CIE 2021; V08BT08A020https://doi.org/10.1115/DETC2021-70081
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Topics: Actuators , Mobile robots , Robots , Stability , Wheels
A New Robotic Hand Based on the Design of Fingers With Spatial Motions
Pol Hamon, Damien Chablat, Franck Plestan
IDETC-CIE 2021; V08BT08A021https://doi.org/10.1115/DETC2021-70233
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Topics: Actuators , Computer-aided design , Design , End effectors , Grasping , Kinematics , Machinery , Machining , Sensors , Shapes
Introduction and Preliminary Investigation of Buoyancy Assisted Robots That Are Cheap, Safe, and Will Never Fall Down
Matthew David Williams, Dennis Hong
IDETC-CIE 2021; V08BT08A022https://doi.org/10.1115/DETC2021-70631
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Topics: Buoyancy , Robots , Drag (Fluid dynamics) , Engineering simulation , Simulation , Weight (Mass) , Ceilings , Energy consumption , Gases , Genetic algorithms
Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots
Simone Asci, Ketao Zhang
IDETC-CIE 2021; V08BT08A023https://doi.org/10.1115/DETC2021-70642
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Topics: Design , Kinematics , Robots , Simulation , Robotics , Actuators , Control systems , Kinematic analysis , Legged locomotion , Trajectories (Physics)
A Semi-Autonomous Quadruped Robot for Performing Disinfection in Cluttered Environments
Yiyu Chen, Abhinav Pandey, Zhiwei Deng, Anthony Nguyen, Ruiqi Wang, Pornrawee Thonapalin, Quan Nguyen, Satyandra K. Gupta
IDETC-CIE 2021; V08BT08A024https://doi.org/10.1115/DETC2021-70850
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Topics: Robots , Sprays , Computer software , Computers , Design , Feedback , Force control , Image processing , Lasers , Pandemics
Orientation Control of Self-Righting Tensegrity Landers
Alan Zhang, Douglas Hutchings, Mayank Gupta, Alice Agogino
IDETC-CIE 2021; V08BT08A025https://doi.org/10.1115/DETC2021-70989
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Topics: Robots , Tensegrity
Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology
Brian J. Slaboch, Peter Holtzen, Luis A. Rodriguez
IDETC-CIE 2021; V08BT08A026https://doi.org/10.1115/DETC2021-71189
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Topics: Kinematics , Modeling , Topology , Actuators , Manipulators , Weight (Mass)
The Kinematic and Static Analysis of the Dual Drive Fusiform Tensegrity Robot
Shibo Liu, Jiangping Mei, Panfeng Wang, Fan Guo
IDETC-CIE 2021; V08BT08A027https://doi.org/10.1115/DETC2021-71292
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Topics: Kinematics , Robots , Simulation , Tensegrity
Precise and Effective Robotic Tool Change Strategy Using Visual Servoing With RGB-D Camera
Danming Wei, Christopher M. Trombley, Andriy Sherehiy, Dan O. Popa
IDETC-CIE 2021; V08BT08A028https://doi.org/10.1115/DETC2021-72123
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Topics: Robotics , Visual servoing

Origami-Based Engineering Design

A Numerical and Experimental Study on the Energy Absorption Characteristics of Deployable Origami Tubes
Zhongyuan Wo, Julia M. Raneses, Evgueni T. Filipov
IDETC-CIE 2021; V08BT08A029https://doi.org/10.1115/DETC2021-66723
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Topics: Absorption , Design , Buckling , Collapse , Collisions (Physics) , Damage , Locks (Waterways) , Mechanical properties , Plasticity , Stiffness
Serial Chain of Rigid Origami That Extends, Bends and Turns
Haruto Kamijo, Tomohiro Tachi
IDETC-CIE 2021; V08BT08A030https://doi.org/10.1115/DETC2021-67013
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Topics: Chain , Kinematics , Shapes , Construction , Degrees of freedom
Auxetic Structures Based on Rhombic Tiling
Kanata Warisaya, Hiroaki Hamanaka, Asao Tokolo, Tomohiro Tachi
IDETC-CIE 2021; V08BT08A031https://doi.org/10.1115/DETC2021-67141
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Topics: Compliant mechanisms , Corners (Structural elements) , Design , Kinematics , Mathematics , Poisson ratio , Tiles , Topology
The Kinematic Analysis and Bistable Characteristics of the Winding Origami Structure
Peng Liu, Jiayao Ma, Yan Chen, Lin Yuan, Haifeng Zhao, Ke Wang
IDETC-CIE 2021; V08BT08A032https://doi.org/10.1115/DETC2021-67410
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Topics: Deformation , Kinematic analysis , Winding (process)
A Study of the Multi-Stability in a Non-Rigid Stacked Miura-Origami Cellular Mechanism
Jiayue Tao, Suyi Li
IDETC-CIE 2021; V08BT08A033https://doi.org/10.1115/DETC2021-67670
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Topics: Stability
Sequentially Working Origami Multi-Physics Simulator (SWOMPS): A Versatile Implementation
Yi Zhu, Evgueni T. Filipov
IDETC-CIE 2021; V08BT08A034https://doi.org/10.1115/DETC2021-68042
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Topics: Physics , Stress , Deformation , Design , Heat transfer , Kinematics , Optimization , Simulation
Inhomogeneous Folding Modes in Infinite Lattices of Rigid Triangulated Miura-ori
Anandaroop Lahiri, Phanisri P. Pratapa
IDETC-CIE 2021; V08BT08A035https://doi.org/10.1115/DETC2021-68532
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Topics: Deformation , Degrees of freedom , Displacement , Engineering systems and industry applications , Hinges , Phononic crystals , Stiffness , Structural analysis , Wavelength
Mathematical Elucidation of the Traditional Japanese Fan Focusing on Its Structure
Keiko Yamazaki, Fujiko Abe, Ichiro Hagiwara
IDETC-CIE 2021; V08BT08A036https://doi.org/10.1115/DETC2021-68773
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Topics: Bone , Deformation , Design , Fans , Image processing , Shapes
Theoretical Study of Sound Insulation Simulations (About Attaching Effect of Sound Absorbing Material and Consideration of Sound Insulation Performance by Height of Origami Core)
Aya Abe, Haruki Yashiro, Ichiro Hagiwara
IDETC-CIE 2021; V08BT08A037https://doi.org/10.1115/DETC2021-68851
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Topics: Acoustical materials , Engineering simulation , Finite element methods , Simulation , Waves , Flat plates , Trusses (Building) , Sound pressure , Molding , Trains
Towards a Synthesis Method of Kresling Tower Used as a Compliant Building Block
John Berre, Francois Geiskopf, Lennart Rubbert, Pierre Renaud
IDETC-CIE 2021; V08BT08A038https://doi.org/10.1115/DETC2021-68904
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Topics: Blocks (Building materials) , Kinematics , Stiffness , Geometry , Compliant mechanisms , Design
Geometry and Kinematics of Cylindrical Waterbomb Tessellation
Rinki Imada, Tomohiro Tachi
IDETC-CIE 2021; V08BT08A039https://doi.org/10.1115/DETC2021-69252
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Topics: Geometry , Kinematics , Waves , Cylinders , Dynamic systems , Visualization
Finite Element Analysis and Thick-Panel Clash Behaviour of Steel Fold-Lines
Quan Shi, Joseph M. Gattas
IDETC-CIE 2021; V08BT08A040https://doi.org/10.1115/DETC2021-69513
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Topics: Finite element analysis , Steel , Hinges , Mechanical behavior , Modeling , Origami-inspired design , Rotation
Energy Absorption Characteristics of Passenger Car With Origami Structure
Yang Yang, Xilu Zhao, Ichiro Hagiwara
IDETC-CIE 2021; V08BT08A041https://doi.org/10.1115/DETC2021-69870
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Topics: Absorption , Automobiles , Heating , Molding , Torsion , Vehicles , Collisions (Physics) , Manufacturing , Peak load , Simulation
Design of Stackable Origami Structures With Elastic Deployment Capabilities
Peiwen J. Ma, Alessandro Verniani, Edwin A. Peraza Hernandez
IDETC-CIE 2021; V08BT08A042https://doi.org/10.1115/DETC2021-70028
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Topics: Design , Shapes , Energy storage , Engineering prototypes , Manufacturing
Method for Generating Mechanical Linkages of Polygons That Fold Into a Similar Shape
Yohei Yamamoto, Jun Mitani
IDETC-CIE 2021; V08BT08A043https://doi.org/10.1115/DETC2021-70089
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Topics: Linkages , Shapes , Hinges , Design , Shrinkage (Materials)
Structures With Multiple Rigid Configurations Due to Prestress and Unilateral Contacts
Charles Dorn, Yang Li, Sergio Pellegrino
IDETC-CIE 2021; V08BT08A044https://doi.org/10.1115/DETC2021-70397
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Topics: Degrees of freedom , Design , Equilibrium (Physics) , Kinematics , Linkages , Springs , Stability , Stiffness
Earthworm-Like Planar Locomotion Robot Based on Yoshimura-Origami Structure
Qiwei Zhang, Jian Xu, Hongbin Fang
IDETC-CIE 2021; V08BT08A045https://doi.org/10.1115/DETC2021-71868
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Topics: Robots
Dynamics of Dual-Cell Series Miura-Ori Structures With Different Types of Inter-Cell Connections
Hai Zhou, Haiping Wu, Jian Xu, Hongbin Fang
IDETC-CIE 2021; V08BT08A046https://doi.org/10.1115/DETC2021-71939
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Topics: Dynamic response , Dynamics (Mechanics) , Stiffness , Computer simulation , Excitation , Design , Dynamic models , Metamaterials , Origami-inspired design , Steady state

Theoretical and Computational Kinematics (A.T. Yang Symposium)

A Geometric Approach for Error Space Estimation of Planar Linkage
Jianzhong Ding, Chunjie Wang
IDETC-CIE 2021; V08BT08A047https://doi.org/10.1115/DETC2021-66869
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Topics: Errors , Linkages , End effectors , Actuators , Evaluation methods , Geometry , Mechanical admittance , Modeling
An Analytic Condition for the Finite Degree-of-Freedom of Linkages and Its Computational Evaluation
Andreas Müller
IDETC-CIE 2021; V08BT08A048https://doi.org/10.1115/DETC2021-67468
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Topics: Degrees of freedom , Linkages , Screws
Neural Network Based Transfer Learning for Robot Path Generation
Houcheng Tang, Leila Notash
IDETC-CIE 2021; V08BT08A049https://doi.org/10.1115/DETC2021-69006
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Topics: Artificial neural networks , Displacement , Manipulators , Robots
Grooved Cam With a Translating Follower Having an Added Ternary-Roller Intermediate Link
Kuan-Lun Hsu, Tung-Hsin Pan, Long-Iong Wu
IDETC-CIE 2021; V08BT08A050https://doi.org/10.1115/DETC2021-69734
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Topics: Rollers , Stress
Classification of 3-DOF 3-UPU Translational Parallel Mechanisms Based on Constraint Singularity Loci Using Gröbner Cover
Xianwen Kong
IDETC-CIE 2021; V08BT08A051https://doi.org/10.1115/DETC2021-70059
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Topics: Parallel mechanisms
Kinematic Modeling and Inverse Kinematics of Serial 6R Fragment of Molecule
Keisuke Arikawa
IDETC-CIE 2021; V08BT08A052https://doi.org/10.1115/DETC2021-70853
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Topics: Kinematics , Modeling
Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach
Utkarsh A. Mishra, Stéphane Caro
IDETC-CIE 2021; V08BT08A053https://doi.org/10.1115/DETC2021-71064
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Topics: Artificial neural networks , Cables , Kinematics , Robots , Algorithms , Equilibrium (Physics) , Function approximation , Gravity (Force) , Kinematic analysis , Optimization
Spatial Mechanism-Environment Contact Geometric Models
Nina Robson, Aaron Lee
IDETC-CIE 2021; V08BT08A054https://doi.org/10.1115/DETC2021-71380
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Topics: Degrees of freedom , Design , End effectors , Kinematic chains , Kinematics
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