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Journal Articles

Design of a Low-Frequency Vibration Isolator with Large-Stroke and Variable-Payload Capabilities Using Gear-Spring Units

Open Access
Accepted Manuscript
Vu Linh Nguyen, Latifah Nurahmi, Van-Truong Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1722
https://doi.org/10.1115/1.4068692
Published Online: May 15, 2025
View Articletitled, Design of a Low-Frequency Vibration Isolator with Large-Stroke and Variable-Payload Capabilities Using Gear-Spring Units
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Topics: Compliant mechanisms, Design, Dynamics (Mechanics), Gears, Kinematics, Multibody dynamics, Robots, Springs, Vibration isolators
Journal Articles

A small-scale integrated jumping-crawling robot: design, modeling, and demonstration

Available to Purchase
Accepted Manuscript
Quan Liu, Zhongjun Yin, Mingge Li, Xiaoming Huang, Wenxi Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1004
https://doi.org/10.1115/1.4068660
Published Online: May 13, 2025
View Articletitled, A small-scale integrated jumping-crawling robot: design, modeling, and demonstration
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Topics: Design, Modeling, Robots, Biomimetics, Dynamics (Mechanics), Kinematics
Journal Articles

Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs

Available to Purchase
Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091006.
Paper No: JMR-24-1509
https://doi.org/10.1115/1.4068431
Published Online: May 7, 2025
View Articletitled, Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs
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Topics: Manipulators, Pneumatic artificial muscles, Springs, Trajectories (Physics), Dynamics (Mechanics), Stiffness, Optimization
Journal Articles

Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot

Available to Purchase
Qingjun Wu, Bin Zi, Bo Hu, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081003.
Paper No: JMR-24-1422
https://doi.org/10.1115/1.4068120
Published Online: March 20, 2025
View Articletitled, Modeling, Kinematics, and Dynamics of a Rigid-Flexible Coupling Spring-Cable-Driven Parallel Robot
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Topics: Cables, Kinematics, Robots, End effectors, Springs, Dynamics (Mechanics), Modeling
Journal Articles

Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator

Available to Purchase
Kendall Koe, Samhita Marri, Benjamin Walt, Shivani Kamtikar, Naveen Kumar Uppalapati, Girish Krishnan, Girish Chowdhary
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071010.
Paper No: JMR-24-1069
https://doi.org/10.1115/1.4067872
Published Online: February 27, 2025
View Articletitled, Learning-Based Position and Orientation Control of a Hybrid Rigid-Soft Arm Manipulator
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Topics: Control equipment, Dynamics (Mechanics), End effectors, Errors, Manipulators, Stress, Trajectories (Physics), Optimization, Robotics, Architecture
Journal Articles

Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons

Available to Purchase
Yu Wang, Jian Li, Peng Liang, Riwei Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071011.
Paper No: JMR-24-1474
https://doi.org/10.1115/1.4067874
Published Online: February 27, 2025
View Articletitled, Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons
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Topics: Cables, Exoskeleton devices, Knee, Dynamics (Mechanics), Cycles, Stiffness, Displacement
Journal Articles

State-Space Basins for Monopedal Jumping With Stable Landing

Available to Purchase
Sameer A. Upadhye, Justin K. Yim, William Z. Peng, Hyunjong Song, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044513.
Paper No: JMR-24-1457
https://doi.org/10.1115/1.4066981
Published Online: November 22, 2024
View Articletitled, State-Space Basins for Monopedal Jumping With Stable Landing
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Topics: Flight, Robots, Stability, Optimization, Dynamics (Mechanics)
Journal Articles

Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter

Available to Purchase
Eeshan Kulkarni, Suresh Sundaram
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061003.
Paper No: JMR-24-1239
https://doi.org/10.1115/1.4067068
Published Online: November 22, 2024
View Articletitled, Design and Development of Scissorbot: A Novel Mid-Flight-Span-Reducing Quadcopter
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Topics: Control equipment, Design, Dynamics (Mechanics), Flight, Mechanical drives, Motors, Propellers, Servomotors, Weight (Mass), Torque
Journal Articles

Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot

Available to Purchase
Alberto Rigo, Muqun Hu, Junchao Ma, Satyandra K. Gupta, Quan Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051006.
Paper No: JMR-24-1144
https://doi.org/10.1115/1.4066852
Published Online: November 1, 2024
View Articletitled, Design and Control Co-Optimization for Dynamic Loco-Manipulation With a Robotic Arm on a Quadruped Robot
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Topics: Control equipment, Design, Optimization, Quadruped robots, Robotics, Robots, Degrees of freedom, Manipulators, Doors, Weight (Mass)
Journal Articles

Special Issue: Selected Papers From IDETC-CIE 2023

Free
Dongming Gan, Ketao Zhang, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. November 2024, 16(11): 110301.
Paper No: JMR-24-1565
https://doi.org/10.1115/1.4066792
Published Online: October 15, 2024
View Articletitled, Special Issue: Selected Papers From IDETC-CIE 2023
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Topics: Design, Robotics, Computers and information in engineering , Computers, Dynamics (Mechanics), Engineering teachers, Kinematics, Robots
Journal Articles

Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model

Available to Purchase
Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021013.
Paper No: JMR-23-1698
https://doi.org/10.1115/1.4066428
Published Online: September 20, 2024
View Articletitled, Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model
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Topics: Dynamics (Mechanics), Humanoid robots, Pendulums, Robots, Kinematics
Journal Articles

Design and Analysis of a New Deployable Articulated Mast Mechanism With Two-Dimensional Deploying-Folding Motion

Available to Purchase
Peng Cheng, Wen-ao Cao, Tianlong Wang, Guodong Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021005.
Paper No: JMR-23-1686
https://doi.org/10.1115/1.4065795
Published Online: July 19, 2024
View Articletitled, Design and Analysis of a New Deployable Articulated Mast Mechanism With Two-Dimensional Deploying-Folding Motion
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Topics: Design, Kinematics, Linkages, Topology, Dynamics (Mechanics), Prisms (Optics), Engineering prototypes
Journal Articles

Towing an Object With a Rover

Available to Purchase
Matteo Caruso, Nicholas Sesto Gorella, Paolo Gallina, Stefano Seriani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
https://doi.org/10.1115/1.4065697
Published Online: July 19, 2024
View Articletitled, Towing an Object With a Rover
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

Available to Purchase
Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
View Articletitled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
Journal Articles

Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics

Available to Purchase
Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061017.
Paper No: JMR-23-1773
https://doi.org/10.1115/1.4065234
Published Online: April 24, 2024
View Articletitled, Redundant Non-Serial Implicit Manipulator Kinematics and Dynamics
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Topics: Kinematics, Manifolds, Manipulators, Manufacturing, Redundant manipulators, Redundancy (Engineering), Dynamics (Mechanics), Manipulator dynamics, Resolution (Optics)
Journal Articles

Complete Kinematics/Dynamics Modeling and Performance Analysis of a Novel SCARA Parallel Manipulator Based on Screw Theory

Available to Purchase
Dong Liang, Yi Mao, Yimin Song, Boyan Chang, Tao Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101004.
Paper No: JMR-23-1340
https://doi.org/10.1115/1.4064461
Published Online: February 5, 2024
View Articletitled, Complete Kinematics/Dynamics Modeling and Performance Analysis of a Novel SCARA Parallel Manipulator Based on Screw Theory
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Topics: Kinematics, Screws, Dynamics (Mechanics), Manipulators, Modeling
Journal Articles

Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems

Free
Seth Donahue, Trevor Kingsbury, Kota Takahashi, Matthew J. Major
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081012.
Paper No: JMR-22-1646
https://doi.org/10.1115/1.4064279
Published Online: January 11, 2024
View Articletitled, Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems
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Topics: Algorithms, Artificial limbs, Displacement, Prostheses, Modeling, Nonlinear dynamics, Dynamics (Mechanics)
Journal Articles

Redundant Serial Manipulator Inverse Position Kinematics and Dynamics

Available to Purchase
Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081008.
Paper No: JMR-23-1364
https://doi.org/10.1115/1.4064047
Published Online: December 11, 2023
View Articletitled, Redundant Serial Manipulator Inverse Position Kinematics and Dynamics
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Topics: Dynamics (Mechanics), Kinematics, Manifolds, Manipulators
Journal Articles

Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism

Available to Purchase
Yangyang Huang, Jinzhu Zhang, Xiaoyan Xiong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071012.
Paper No: JMR-23-1351
https://doi.org/10.1115/1.4063670
Published Online: November 14, 2023
View Articletitled, Closed-Form Dynamic Modeling and Performance Evaluation of a 4-Degrees-of-Freedom Parallel Driving Mechanism
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Topics: Dynamic modeling, Dynamic models, Dynamics (Mechanics), Inertia (Mechanics), Manipulators, Performance evaluation, Pulse width modulation, Trajectories (Physics), Kinematics, Engineering prototypes
Journal Articles

Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction

Available to Purchase
Yongfeng Rong, Wusheng Chou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071001.
Paper No: JMR-23-1182
https://doi.org/10.1115/1.4063368
Published Online: October 13, 2023
View Articletitled, Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction
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Topics: Design, Dynamics (Mechanics), Manipulators, Control equipment, Unmanned aerial vehicles, Actuators