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Proceedings Papers

Teaching the Reachable and Dexterous Workspace of Articulated Robotic Manipulators Using MATLAB Animation

Michael D. M. Kutzer, Erick Rodriguez-Seda
Proc. ASME. IMECE2023, Volume 8: Engineering Education, V008T09A041, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113471
https://doi.org/10.1115/IMECE2023-113471
View Paper titled, Teaching the Reachable and Dexterous Workspace of Articulated Robotic Manipulators Using MATLAB Animation
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Topics: Manipulators, Matlab, Teaching, Visualization, Algorithms, Degrees of freedom, Dimensions, End effectors, Engineering education, Robot kinematics
Proceedings Papers

Development of an Articulating Robot Arm Kit As an Educational Tool for Middle School Students

Ramitha Herath, Kyle Balko, Benjamin Pottmeyer, John-Paul Williams, Janet Dong
Proc. ASME. IMECE2023, Volume 8: Engineering Education, V008T09A040, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-112999
https://doi.org/10.1115/IMECE2023-112999
View Paper titled, Development of an Articulating Robot Arm Kit As an Educational Tool for Middle School Students
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Topics: Robotics, Robots, Students
Proceedings Papers

In-Situ Calibration for Load Cells in 3d Printed Bipedal Robot Using 3D Modeling in Computer-Aided Design Environment

Xuan Tung Le, Connor W. Herron, Alexander Leonessa
Proc. ASME. IMECE2023, Volume 11: Mechanics of Solids, Structures and Fluids, V011T12A011, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-116869
https://doi.org/10.1115/IMECE2023-116869
View Paper titled, In-Situ Calibration for Load Cells in 3d Printed Bipedal Robot Using 3D Modeling in Computer-Aided Design Environment
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Topics: Additive manufacturing, Calibration, Computer-aided design, Engineering simulation, Robots, Stress, Three-dimensional modeling
Proceedings Papers

Design of an Extendable Robot Arm Based on Origami Foldpatterns

Markus M. Huber, Judith U. Merz, Christoph Rehekampff, Franz Irlinger, Tim C. Lueth
Proc. ASME. IMECE2023, Volume 11: Mechanics of Solids, Structures and Fluids, V011T12A039, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-111586
https://doi.org/10.1115/IMECE2023-111586
View Paper titled, Design of an Extendable Robot Arm Based on Origami Foldpatterns
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Topics: Design, Robots, Robotics, Additive manufacturing, Construction, Deformation, Degrees of freedom, Kinematics, Matlab, Stiffness
Proceedings Papers

Workspace Specific Robot Arm Design

Christoph August Wilhelm Parhofer, Felix Pancheri, Christoph Rehekampff, Tim Christian Lueth
Proc. ASME. IMECE2023, Volume 2: Advanced Design and Information Technologies, V002T02A008, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113461
https://doi.org/10.1115/IMECE2023-113461
View Paper titled, Workspace Specific Robot Arm Design
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Topics: Design, Robots, Design methodology, Shapes, Extruding, Matlab, Printing, Snap fitting, Splines
Proceedings Papers

An Adaptive Path Planning Approach for Digital Twin-Enabled Robot Arm Based on Inverse Kinematics and Deep Reinforcement Learning

Qi Zhou, Sikai Li, Jingbo Qu, Jin Wu, Haomiao Xu, Youyi Bi
Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A079, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113131
https://doi.org/10.1115/IMECE2023-113131
View Paper titled, An Adaptive Path Planning Approach for Digital Twin-Enabled Robot Arm Based on Inverse Kinematics and Deep Reinforcement Learning
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Topics: Digital twin, Kinematics, Path planning, Reinforcement learning, Robots
Proceedings Papers

Next-Generation Automation: Development and Simulation of an Autonomous Sorting System

Francisco Koe, David A. Guerra-Zubiaga, Lashaundra Perry, Vedang D. Chauhan, Germanico Gonzalez-Badillo
Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A085, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-114297
https://doi.org/10.1115/IMECE2023-114297
View Paper titled, Next-Generation Automation: Development and Simulation of an Autonomous Sorting System
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Topics: Digital twin, Internet of things, Life cycle management, Manufacturing, Quality management, Robotics, Robots, Sensors, Simulation
Proceedings Papers

A Robot Motion Planning Approach Based on Adaptive Multi-Tree Sampling

Bohan Feng, Xinting Jiang, Youyi Bi
Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A065, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113127
https://doi.org/10.1115/IMECE2023-113127
View Paper titled, A Robot Motion Planning Approach Based on Adaptive Multi-Tree Sampling
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Topics: Path planning, Robot motion, Algorithms, Robots
Proceedings Papers

Digital Twin Based Learning From Demonstration System for Industrial Robots

Yevhen Bondarenko, Simone Luca Pizzagalli, Vladimir Kuts, Eduard Petlenkov, Tauno Otto
Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A081, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113240
https://doi.org/10.1115/IMECE2023-113240
View Paper titled, Digital Twin Based Learning From Demonstration System for Industrial Robots
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Topics: Digital twin, Robots, Simulation
Proceedings Papers

Simulation and Validation of Material Handling and Packaging Processes Using Vision-Guided Virtual and Physical Robots

Seth Mascaro, Alexander Mueninghoff, Vedang Chauhan, David A. Guerra-Zubiaga
Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A080, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113159
https://doi.org/10.1115/IMECE2023-113159
View Paper titled, Simulation and Validation of Material Handling and Packaging Processes Using Vision-Guided Virtual and Physical Robots
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Topics: Materials handling, Packaging, Robotics, Robots, Simulation
Proceedings Papers

A Framework for Human-Robot Teaming Performance Prediction: Reinforcement Learning and Eye Movement Analysis

Gustavo Martins Galvani, Soroush Korivand, Arash Ajoudani, Jiaqi Gong, Nader Jalili
Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A068, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-116636
https://doi.org/10.1115/IMECE2023-116636
View Paper titled, A Framework for Human-Robot Teaming Performance Prediction: Reinforcement Learning and Eye Movement Analysis
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Topics: Reinforcement learning, Robots, Stress
Proceedings Papers

Modeling and Investigation of Spatial Operation Stiffness in Robotic Milling Process Considering Bidirectional Weak-Stiffness of Robot-Workpiece System

Qunfei Gu, Shun Liu, Sun Jin
Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A023, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-112221
https://doi.org/10.1115/IMECE2023-112221
View Paper titled, Modeling and Investigation of Spatial Operation Stiffness in Robotic Milling Process Considering Bidirectional Weak-Stiffness of Robot-Workpiece System
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Topics: Milling, Modeling, Robotics, Robots, Stiffness
Proceedings Papers

Motion Control of a Robot by Means of Q-Learning Using the Example of Locomotion

Tobias Bußmann, Daniel Schilberg
Proc. ASME. IMECE2023, Volume 3: Advanced Manufacturing, V003T03A063, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-111287
https://doi.org/10.1115/IMECE2023-111287
View Paper titled, Motion Control of a Robot by Means of Q-Learning Using the Example of Locomotion
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Topics: Motion control, Robots, Artificial neural networks, Algorithms, Education, Machine learning, Robotics
Proceedings Papers

Robot-Based Adaptive Training of a Repetitive Motion Shows the Potential to Outperform Transient, Passive and Active Learning

Danqing Zhang, Jonathan M. Weaver
Proc. ASME. IMECE2023, Volume 5: Biomedical and Biotechnology, V005T06A062, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-114072
https://doi.org/10.1115/IMECE2023-114072
View Paper titled, Robot-Based Adaptive Training of a Repetitive Motion Shows the Potential to Outperform Transient, Passive and Active Learning
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Topics: Robots, Transients (Dynamics)
Proceedings Papers

Predicting Needle Deflection in Soft Tissue: a Computational Modeling Approach

Samer Al-Safadi, Parsaoran Hutapea
Proc. ASME. IMECE2023, Volume 5: Biomedical and Biotechnology, V005T06A050, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113833
https://doi.org/10.1115/IMECE2023-113833
View Paper titled, Predicting Needle Deflection in Soft Tissue: a Computational Modeling Approach
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Topics: Computer simulation, Deflection, Needles, Soft tissues, Biological tissues, Deformation, Euler-Bernoulli beam theory, Surgery, Analytical methods, Kidney
Proceedings Papers

Development of a Novel Hybrid Soft Cable-Driven Parallel Robot

Ammy Ovando, Sky Papendorp, Turaj Ashuri, Amir Ali Amiri Moghadam
Proc. ASME. IMECE2023, Volume 5: Biomedical and Biotechnology, V005T06A059, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113598
https://doi.org/10.1115/IMECE2023-113598
View Paper titled, Development of a Novel Hybrid Soft Cable-Driven Parallel Robot
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Topics: Cables, Robots
Proceedings Papers

Numerical and Experimental Evaluation of an Enhanced Boundary Node Path-Planning Method for Agri-Robots in Dynamic Environments

R. A. Saeed, Giovanni Carabin, Renato Vidoni, Karl Von Ellenrieder
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A073, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-113231
https://doi.org/10.1115/IMECE2023-113231
View Paper titled, Numerical and Experimental Evaluation of an Enhanced Boundary Node Path-Planning Method for Agri-Robots in Dynamic Environments
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Topics: Path planning, Robotics, Robots
Proceedings Papers

Development of a Control System Architecture for a Self-Driving Humanoid, HART

Kiwon Sohn, Jordaine Wisdom, Ethan Sharpe, James Robinson, Rahul Kumar, Akin Tatoglu
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A030, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-111598
https://doi.org/10.1115/IMECE2023-111598
View Paper titled, Development of a Control System Architecture for a Self-Driving Humanoid, HART
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Topics: Control systems, Robots, Vehicles, Artificial neural networks, Design, End effectors, Kinematics, Navigation, Sensors, Teams
Proceedings Papers

Swarm Distributed Intelligence and Control for Autonomous Watercraft

Eleftherios C. Loghis, Nikolaos I. Xiros
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A096, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-112704
https://doi.org/10.1115/IMECE2023-112704
View Paper titled, Swarm Distributed Intelligence and Control for Autonomous Watercraft
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Topics: Actuators, Aircraft, Algorithms, Artificial intelligence, Autopilots, Collisions (Physics), Control algorithms, Control equipment, Control systems, Data acquisition
Proceedings Papers

Novel Lockable Passive Joints for Joint Locking-Based Reconfigurable Mechanisms

Abdur Rosyid, Bashar El-Khasawneh
Proc. ASME. IMECE2023, Volume 6: Dynamics, Vibration, and Control, V006T07A039, October 29–November 2, 2023
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2023-112738
https://doi.org/10.1115/IMECE2023-112738
View Paper titled, Novel Lockable Passive Joints for Joint Locking-Based Reconfigurable Mechanisms
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Topics: Design, Maintenance, Manufacturing, Pistons, Reliability, Robots, Solenoids, Torque