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Proceedings Papers

A Learning Framework for Enabling Robots to Autonomously Dispense Granular Material On-Demand

Jeon Ho Kang, Rishabh Shukla, Moksh Mehta, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2024, Volume 2B: 44th Computers and Information in Engineering Conference (CIE), V02BT02A048, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143858
https://doi.org/10.1115/DETC2024-143858
View Paper titled, A Learning Framework for Enabling Robots to Autonomously Dispense Granular Material On-Demand
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Topics: Granular materials, Robots, Containers, End effectors, Feedback, Geometry, Inverse problems, Sensors, Uncertainty
Proceedings Papers

Valuing Outliers: a Modeling Framework to Consider Non-Traditional Solutions From Non-Traditional Solvers

Athul Chakkithara Dharmarajan, Taylan G. Topcu, Jitesh H. Panchal, Zoe Szajnfarber
Proc. ASME. IDETC-CIE2024, Volume 6: 36th International Conference on Design Theory and Methodology (DTM), V006T06A011, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143509
https://doi.org/10.1115/DETC2024-143509
View Paper titled, Valuing Outliers: a Modeling Framework to Consider Non-Traditional Solutions From Non-Traditional Solvers
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Topics: Design, Innovation, Modeling, Engineering design, Crowdsourcing, End effectors, Performance, System architecture
Proceedings Papers

Development of a Compact Hybrid Gripper for Automated Harvesting of White Button Mushroom

Bikram Koirala, Guoyang Shen, Huy Canh Nguyen, Jiming Kang, Abdollah Zakeri, Venkatesh Balan, Fatima Merchant, Driss Benhaddou, Weihang Zhu
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A036, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143056
https://doi.org/10.1115/DETC2024-143056
View Paper titled, Development of a Compact Hybrid Gripper for Automated Harvesting of White Button Mushroom
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Topics: End effectors, Grippers
Proceedings Papers

Mechanical Design of a Novel Robotic Gripper for Fixed Automation Applications

Hunter Jones, Brian J. Slaboch
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A033, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-142774
https://doi.org/10.1115/DETC2024-142774
View Paper titled, Mechanical Design of a Novel Robotic Gripper for Fixed Automation Applications
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Topics: Design engineering, End effectors, Grippers, Actuators, Design, Electric motors, Energy consumption, Energy efficiency, Engines, Motors
Proceedings Papers

Design Space Enumerations for Pneumatically Actuated Soft Continuum Manipulators

Evan Ripperger, Girish Krishnan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A097, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116930
https://doi.org/10.1115/DETC2023-116930
View Paper titled, Design Space Enumerations for Pneumatically Actuated Soft Continuum Manipulators
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Topics: Design, Manipulators, Actuators, Architecture, Valves, End effectors, Fibers, Inertia (Mechanics), Shapes
Proceedings Papers

Safe Robot to Human Tool Handover to Support Effective Collaboration

Jeon Ho Kang, Paolo Limcaoco, Neel Dhanaraj, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A088, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116334
https://doi.org/10.1115/DETC2023-116334
View Paper titled, Safe Robot to Human Tool Handover to Support Effective Collaboration
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Topics: Collaboration, Robots, End effectors, Grasping, Design, Grippers, Manufacturing, Robotics
Proceedings Papers

Design and Analysis of a Series-Parallel Hybrid 3-S P S-U Mechanism

Swaminath Venkateswaran, Damien Chablat, Denis Creusot
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A006, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115225
https://doi.org/10.1115/DETC2023-115225
View Paper titled, Design and Analysis of a Series-Parallel Hybrid 3-S P S-U Mechanism
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Topics: Design, Torsion, Algebra, Computation, Computer simulation, End effectors, Inspection, Optimization, Pipes, Robots
Proceedings Papers

A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping

Vitthal Khatik, Anupam Saxena
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A071, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115115
https://doi.org/10.1115/DETC2023-115115
View Paper titled, A Novel Slack Tolerant, Sliding Pulley Differential Mechanism for Adaptive Grasping
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Topics: Artificial limbs, Exoskeleton devices, Grasping, Pulleys, String, Actuators, Arches, Degrees of freedom, End effectors, Rotation
Proceedings Papers

StickBot: A Methodology for Building Robots and Other Functional Elements From Tree Branches and String

Devin Carroll, Valerie Ang, Mark Yim
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A077, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109541
https://doi.org/10.1115/DETC2023-109541
View Paper titled, StickBot: A Methodology for Building Robots and Other Functional Elements From Tree Branches and String
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Topics: Robots, String, Orthotics, Grippers, Robotics, Actuators, Blocks (Building materials), Developing nations, Disaster recovery, End effectors
Proceedings Papers

Selection of Inverse Kinematics Solution Type for Cooperative Robots and Singularity Avoidance Based on Reinforcement Learning

Daiki Kato, Naoki Maeda, Ayumu Takeuchi, Masataka Sekioka, Toshiki Hirogaki, Eiichi Aoyama
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A019, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114868
https://doi.org/10.1115/DETC2023-114868
View Paper titled, Selection of Inverse Kinematics Solution Type for Cooperative Robots and Singularity Avoidance Based on Reinforcement Learning
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Topics: Kinematics, Reinforcement learning, Robots, Manipulators, Artificial neural networks, Computer-aided engineering, End effectors, Numerical analysis, Robotics
Proceedings Papers

Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas

Erik Pearson, Paul Szenher, Christine Huang, Brendan Englot
Proc. ASME. IDETC-CIE2023, Volume 1: 25th International Conference on Advanced Vehicle Technologies (AVT), V001T01A014, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-111245
https://doi.org/10.1115/DETC2023-111245
View Paper titled, Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas
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Topics: Clearances (Engineering), Inspection, Vehicles, Manipulators, Hardware, Navigation, Robots, Computer software, Degrees of freedom, End effectors
Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89384
https://doi.org/10.1115/DETC2022-89384
View Paper titled, Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes
Proceedings Papers

Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology

Tanner Vaculik, Brian Slaboch, Luis A. Rodriguez
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A041, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89138
https://doi.org/10.1115/DETC2022-89138
View Paper titled, Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology
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Topics: Design engineering, Topology, Kinematics, Actuators, Degrees of freedom, End effectors, Energy consumption, Engineering prototypes, Trajectories (Physics)
Proceedings Papers

Self-Aligning Rotational Latching Mechanisms

Gabriel I. Fernandez, Samuel Gessow, Justin Quan, Dennis Hong
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A024, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89801
https://doi.org/10.1115/DETC2022-89801
View Paper titled, Self-Aligning Rotational Latching Mechanisms
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Topics: Blades, Containers, Control equipment, Design, End effectors, Errors, Logistics, Mechanical admittance, Optimization, Paperboard
Proceedings Papers

Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes

Patrick McGowan, Guangbo Hao
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A016, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90939
https://doi.org/10.1115/DETC2022-90939
View Paper titled, Design of a Single-Input Morphing Compliant Mechanism With Separate Gripping and Retraction Modes
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Topics: Compliant mechanisms, Design, Displacement, Finite element analysis, Computer software, Deformation, End effectors, Grippers, Rigid-body mechanisms, Robotics
Proceedings Papers

Practical End-Effector Development Through Task Interface Taxonomy Analysis

Andrew Sharp, Austin Lovan, Eduardo Herrera, Evan Laske
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A043, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89299
https://doi.org/10.1115/DETC2022-89299
View Paper titled, Practical End-Effector Development Through Task Interface Taxonomy Analysis
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Topics: End effectors, Grippers, Robotics, Computer software, Gates (Closures), Design, Drills (Tools), Filters, Fire, Grasping
Proceedings Papers

A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments

Sri Sadhan Jujjavarapu, Ehsan Tarkesh Esfahani
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A018, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91310
https://doi.org/10.1115/DETC2022-91310
View Paper titled, A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments
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Topics: Stiffness, Collisions (Physics), Robots, Displacement, End effectors, Damage, Magnets, Manipulators, Permanent magnets, Robotics
Proceedings Papers

Task Modification Scheme for a Collaborative Robot

Hardeep Singh, Rajesh Kumar, Subir Kumar Saha
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A075, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89720
https://doi.org/10.1115/DETC2022-89720
View Paper titled, Task Modification Scheme for a Collaborative Robot
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Topics: Robots, Sliding mode control, Algorithms, Control equipment, End effectors, Human dynamics, Ignorance, Trajectories (Physics), Dynamics (Mechanics), Inertia (Mechanics)
Proceedings Papers

Conceptual Design of Cellular Auxetic Systems With Passive Adaptation to Loading

Joshua Prendergast, Manaswin Oddiraju, Mostafa Nouh, Souma Chowdhury
Proc. ASME. IDETC-CIE2022, Volume 3B: 48th Design Automation Conference (DAC), V03BT03A027, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90132
https://doi.org/10.1115/DETC2022-90132
View Paper titled, Conceptual Design of Cellular Auxetic Systems With Passive Adaptation to Loading
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Topics: Absorption, Conceptual design, Design, Displacement, End effectors, Finite element analysis, Grippers, Optimization, Poisson ratio, Robotics
Proceedings Papers

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Anirban Sinha, Anik Sarker, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A012, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-72009
https://doi.org/10.1115/DETC2021-72009
View Paper titled, Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance
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Topics: Collisions (Physics), End effectors, Interpolation, Kinematics, Path planning, Robots, Screws, Simulation, Space utilization (Design)