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Journal Articles

Sharp Curve Trajectory Tracking of a Universal Omni-Wheeled Mobile Robot Using a Sliding Mode Controller

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Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Technical Briefs
Letters Dyn. Sys. Control. April 2025, 5(2): 024501.
Paper No: ALDSC-24-1025
https://doi.org/10.1115/1.4066937
Published Online: November 6, 2024
View Articletitled, Sharp Curve Trajectory Tracking of a Universal Omni-Wheeled Mobile Robot Using a Sliding Mode Controller
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Topics: Control equipment, Mobile robots, Momentum, Robots, Sliding mode control, Trajectories (Physics), Dynamic models, Dynamic modeling
Journal Articles

Human-Centered Coordination for Robot-Assisted Equipment Transport

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Joshua Fernandez, Austin Cosby, Anirban Mazumdar
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2025, 5(2): 021002.
Paper No: ALDSC-24-1011
https://doi.org/10.1115/1.4066870
Published Online: October 30, 2024
View Articletitled, Human-Centered Coordination for Robot-Assisted Equipment Transport
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Topics: Robots
Journal Articles

An Approach to Realize Generalized Optimal Motion Primitives Using Physics Informed Neural Networks

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Jonathon E. Slightam, Andrew J. Steyer, Logan E. Beaver, Carol C. Young
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2025, 5(2): 021001.
Paper No: ALDSC-24-1041
https://doi.org/10.1115/1.4066627
Published Online: October 25, 2024
View Articletitled, An Approach to Realize Generalized Optimal Motion Primitives Using Physics Informed Neural Networks
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Topics: Artificial neural networks, Physics, Robotics, Robots, Machine learning, Trajectories (Physics), Errors
Journal Articles

On Multi-Fidelity Impedance Tuning for Human–Robot Cooperative Manipulation

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Ethan Lau, Vaibhav Srivastava, Shaunak D. Bopardikar
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2025, 5(1): 011006.
Paper No: ALDSC-24-1034
https://doi.org/10.1115/1.4066629
Published Online: October 16, 2024
View Articletitled, On Multi-Fidelity Impedance Tuning for Human–Robot Cooperative Manipulation
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Topics: Robots, Design, Errors, Manipulators, Human-robot interaction, Robustness
Journal Articles

Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots

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Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021007.
Paper No: ALDSC-23-1074
https://doi.org/10.1115/1.4064517
Published Online: March 7, 2024
View Articletitled, Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots
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Topics: Control equipment, Dynamic models, Momentum, Dynamic modeling, Pole placement, Robots, Kinematics
Journal Articles

Utilization of Manipulator Redundancy for Torque Reduction During Force Interaction

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Shail Jadav, Harish J. Palanthandalam-Madapusi
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021005.
Paper No: ALDSC-23-1073
https://doi.org/10.1115/1.4064654
Published Online: February 26, 2024
View Articletitled, Utilization of Manipulator Redundancy for Torque Reduction During Force Interaction
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Topics: Manipulators, Redundancy (Engineering), Robots, Torque, Trajectories (Physics), Robotics, Kinematics, End effectors, Optimization
Journal Articles

Non-Contacting Two-Dimensional Position Estimation Using an External Magnet and Monocular Computer Vision

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N. Pushpalayam, L. Alexander, R. Rajamani
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2023, 3(3): 031005.
Paper No: ALDSC-23-1047
https://doi.org/10.1115/1.4063480
Published Online: October 31, 2023
View Articletitled, Non-Contacting Two-Dimensional Position Estimation Using an External Magnet and Monocular Computer Vision
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Topics: Computers, Magnetic fields, Magnets, Permanent magnets, Robots, Magnetic sensors
Journal Articles

Customizing Textile and Tactile Skins for Interactive Industrial Robots

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Bo Ying Su, Zhongqi Wei, James McCann, Wenzhen Yuan, Changliu Liu
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2023, 3(3): 031007.
Paper No: ALDSC-23-1042
https://doi.org/10.1115/1.4063602
Published Online: October 31, 2023
View Articletitled, Customizing Textile and Tactile Skins for Interactive Industrial Robots
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Topics: Calibration, Robots, Skin, Textiles
Journal Articles

Data-Based Stiffness Estimation for Control of Robot–Workpiece Elastic Interactions

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Lance McCann, Yoshua Gombo, Anuj Tiwari, Joseph Garbini, Santosh Devasia
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2023, 3(3): 031003.
Paper No: ALDSC-23-1024
https://doi.org/10.1115/1.4063606
Published Online: October 25, 2023
View Articletitled, Data-Based Stiffness Estimation for Control of Robot–Workpiece Elastic Interactions
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Topics: Robots, Stiffness, Algorithms
Journal Articles

A Kinematically Constrained Kalman Filter for Sensor Fusion in a Wearable Origami Robot

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Emiliano Quinones Yumbla, Dongting Li, Tolemy M. Nibi, Daniel M. Aukes, Wenlong Zhang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2023, 3(1): 011005.
Paper No: ALDSC-22-1033
https://doi.org/10.1115/1.4056986
Published Online: March 16, 2023
View Articletitled, A Kinematically Constrained Kalman Filter for Sensor Fusion in a Wearable Origami Robot
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Topics: Kalman filters, Kinematics, Robots, Sensors, Algorithms, Hall effect, Design
Journal Articles

Accelerating Hybrid Systems Differential Dynamic Programming

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John N. Nganga, Patrick M. Wensing
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2023, 3(1): 011002.
Paper No: ALDSC-22-1022
https://doi.org/10.1115/1.4056747
Published Online: February 28, 2023
View Articletitled, Accelerating Hybrid Systems Differential Dynamic Programming
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Topics: Algorithms, Dynamics (Mechanics), Tensors, Trajectories (Physics), Dynamic programming, Computation, Robots, Optimization
Journal Articles

A Novel Platform Orientation System for Proportional-Integral-Derivative-Controlled Ball-Catching Robot

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Tariq M. Arif, Stockton McKay, Benjamin Conklin
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040903.
Paper No: ALDSC-22-1021
https://doi.org/10.1115/1.4055837
Published Online: October 25, 2022
View Articletitled, A Novel Platform Orientation System for Proportional-Integral-Derivative-Controlled Ball-Catching Robot
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Topics: Algorithms, Graphical user interfaces, Noise (Sound), Robots, Thread, Motors
Journal Articles

Special Section: 2022 IMECE Papers

Free
Peter Meckl
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Editorial
Letters Dyn. Sys. Control. October 2022, 2(4): 040201.
Paper No: ALDSC-22-1032
https://doi.org/10.1115/1.4055838
Published Online: October 19, 2022
View Articletitled, Special Section: 2022 IMECE Papers
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Topics: Accelerometers, Aerospace industry, Control equipment, Design, Dynamic models, Dynamic systems, Finite element analysis, Mechanical engineering, Microelectromechanical systems, Modeling
Journal Articles

Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot

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Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040902.
Paper No: ALDSC-22-1025
https://doi.org/10.1115/1.4055690
Published Online: October 19, 2022
View Articletitled, Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot
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Topics: Control equipment, Kinematics, Mobile robots, Robots, Trajectories (Physics), Wheels, Dynamics (Mechanics), Modeling, Dynamic modeling, Dynamic models
Journal Articles

Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint

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Hamid Vejdani, LaRance Haji, Vernon Fernandez, Badih Jawad
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 041002.
Paper No: ALDSC-22-1016
https://doi.org/10.1115/1.4055691
Published Online: October 7, 2022
View Articletitled, Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint
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Topics: Design, Robots, Wings, Linkages, Kinematics, Motors, Cycles, Optimization
Journal Articles

Row Allocation Negotiation for a Fleet of Strawberry Harvesting Robots

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Madeline Mapes, Yunjun Xu
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2022, 2(3): 031007.
Paper No: ALDSC-21-1046
https://doi.org/10.1115/1.4054644
Published Online: June 10, 2022
View Articletitled, Row Allocation Negotiation for a Fleet of Strawberry Harvesting Robots
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Topics: Algorithms, Robots
Journal Articles

A Novel Concept for Energy-Optimal, Independent-Phase Control of Brushless Motor Drivers

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Amin Ghorbanpour, Hanz Richter
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2022, 2(2): 021004.
Paper No: ALDSC-21-1020
https://doi.org/10.1115/1.4052662
Published Online: October 19, 2021
View Articletitled, A Novel Concept for Energy-Optimal, Independent-Phase Control of Brushless Motor Drivers
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Topics: Engines, Motors, Robots, Optimization, Ultracapacitors, Energy budget (Physics)
Journal Articles

A Transfer Entropy Based Approach for Fault Isolation in Industrial Robots

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Sathish Vallachira, Mikael Norrlof, Michal Orkisz, Sachit Butail
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2022, 2(1): 011009.
Paper No: ALDSC-20-1086
https://doi.org/10.1115/1.4051565
Published Online: July 16, 2021
View Articletitled, A Transfer Entropy Based Approach for Fault Isolation in Industrial Robots
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Topics: Entropy, Friction, Robots, Simulation, Wear, Failure, Torque, Robotics
Journal Articles

Toward A Mobile Robot for Vibration Control and Inspection of Power Lines

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Paul-Camille Kakou, Oumar Barry
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2022, 2(1): 011001.
Paper No: ALDSC-20-1048
https://doi.org/10.1115/1.4050957
Published Online: May 13, 2021
View Articletitled, Toward A Mobile Robot for Vibration Control and Inspection of Power Lines
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Topics: Cables, Computer simulation, Damping, Inspection, Mobile robots, Robots, Transmission lines, Vibration, Vibration control, Wind
Journal Articles

Design of a Xenia Coral Robot Using a High-Stroke Compliant Linear Electromagnetic Actuator

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Noah Kohls, Ibrahim Abdeally, Bryan P. Ruddy, Yi Chen Mazumdar
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2021, 1(3): 031011.
Paper No: ALDSC-20-1052
https://doi.org/10.1115/1.4050041
Published Online: February 23, 2021
View Articletitled, Design of a Xenia Coral Robot Using a High-Stroke Compliant Linear Electromagnetic Actuator
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Topics: Actuators, Bending (Stress), Design, Electromagnetic actuators, Kinematics, Magnets, Permanent magnets, Robots, Solenoids, Liquid metals