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Darwin G. Caldwell
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Journal Articles

Design and Analysis of a Fully Actuated Cable-Driven Joint for Hyper-Redundant Robots With Optimal Cable Routing

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Paolo Guardiani, Daniele Ludovico, Alessandro Pistone, Haider Abidi, Isiah Zaplana, Jinoh Lee, Darwin G. Caldwell, Carlo Canali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021006.
Paper No: JMR-20-1578
https://doi.org/10.1115/1.4052332
Published Online: September 21, 2021
View Articletitled, Design and Analysis of a Fully Actuated Cable-Driven Joint for Hyper-Redundant Robots With Optimal Cable Routing
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Topics: Cables, Design, Robots, Optimization, Kinematics
Journal Articles

Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

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Tianjiang Zheng, David T. Branson, Emanuele Guglielmino, Rongjie Kang, Gustavo A. Medrano Cerda, Matteo Cianchetti, Maurizio Follador, Isuru S. Godage, Darwin G. Caldwell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021004.
Paper No: JMR-12-1047
https://doi.org/10.1115/1.4023636
Published Online: March 26, 2013
View Articletitled, Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments
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Topics: Actuators, Cables, Dynamic models, Engineering prototypes, Gravity (Force), Kinematics, Model validation, Muscle, Robotics, Stiffness
Journal Articles

Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition

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Dongming Gan, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2013, 5(1): 011002.
Paper No: JMR-12-1034
https://doi.org/10.1115/1.4007492
Published Online: October 1, 2012
View Articletitled, Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition
Open the PDF for Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition in another window
Topics: Design, Manipulators, Stiffness, Torque, End effectors