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Journal Articles

Leveraging Embodied Intelligence for Estimating Grasping Forces and Poses in Soft Robotic Fingers Using Deep Learning

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Accepted Manuscript
Yongchuan Sun, Xiaowei Shan, Xingang Miao, Litao Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1107
https://doi.org/10.1115/1.4068798
Published Online: May 30, 2025
View Articletitled, Leveraging Embodied Intelligence for Estimating Grasping Forces and Poses in Soft Robotic Fingers Using Deep Learning
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Topics: Artificial intelligence, Deep learning, Grasping, Robotics, Algorithms, Modeling, Compliant mechanisms, Control algorithms, Force sensors, Robots
Journal Articles

Design and Analysis of Safety Evaluation of Parallel Cable-Driven Upper Limb Rehabilitation Robot

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Yupeng Zou, Keyu Pan, Qiang Yu, Jianheng Tang, Pengyue Wang, Junhe Chen, Kefei Wang, Minghan Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081010.
Paper No: JMR-25-1045
https://doi.org/10.1115/1.4068243
Published Online: April 3, 2025
View Articletitled, Design and Analysis of Safety Evaluation of Parallel Cable-Driven Upper Limb Rehabilitation Robot
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Topics: Cables, Robots, Safety, Stability, Tension, Stiffness, Design
Journal Articles

Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots

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Liu Peng, Xuechao Duan, Xinzhou Qiao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071012.
Paper No: JMR-24-1373
https://doi.org/10.1115/1.4067923
Published Online: February 27, 2025
View Articletitled, Force-Pose Stability Measures and Specified Stability Workspace Generation Techniques for Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, End effectors
Journal Articles

Stability Conditions and Stiffness Variability of General Tensegrity Systems With Kinematic Joints

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Jiahui Luo, Longqing Ge, Xiaoming Xu, Xiaodong Liu, Ziwei Zhuang, Lulu Han, Zhigang Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071002.
Paper No: JMR-24-1150
https://doi.org/10.1115/1.4066745
Published Online: February 11, 2025
View Articletitled, Stability Conditions and Stiffness Variability of General Tensegrity Systems With Kinematic Joints
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Topics: Stability, Stiffness, Tensegrity, Kinematics
Journal Articles

State-Space Basins for Monopedal Jumping With Stable Landing

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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

Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction

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Sen Qian, Changqi Li, Zeyao Zhao, Bin Zi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061002.
Paper No: JMR-24-1340
https://doi.org/10.1115/1.4067022
Published Online: November 22, 2024
View Articletitled, Modeling and Experimental Validation of a Cable-Driven Robot for Three-Dimensional Printing Construction
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Topics: Additive manufacturing, Cables, Construction, End effectors, Errors, Gravity (Force), Kinematics, Motion control, Path planning, Printing
Journal Articles

Push Recovery of a Biped in Different Stance Scenarios

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Alinjar Dan, S. K. Saha, K. Rama Krishna, Amit Sawant, Gurman Singh Bhullar, Tarannum Perween
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031015.
Paper No: JMR-23-1394
https://doi.org/10.1115/1.4066443
Published Online: October 25, 2024
View Articletitled, Push Recovery of a Biped in Different Stance Scenarios
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Topics: Angular momentum, Control equipment, Hardware, Linear momentum, Momentum, Optimization, Robots, Stability, Impulse (Physics), Torque control
Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

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Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
View Articletitled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Open Access
Felix Trautwein, David Dietrich, Andreas Pott, Alexander Verl
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010908.
Paper No: JMR-23-1708
https://doi.org/10.1115/1.4065642
Published Online: June 17, 2024
View Articletitled, Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, Topology, Kinematics, Modeling, Algorithms
Journal Articles

Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint

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Isaac John, Santhakumar Mohan, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091003.
Paper No: JMR-23-1678
https://doi.org/10.1115/1.4064254
Published Online: February 1, 2024
View Articletitled, Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint
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Topics: Cables, Stiffness, Stability, Equilibrium (Physics), Screws, Robots, Mechanical admittance, Kinematics, Manipulators, Potential energy
Journal Articles

Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space

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Alinjar Dan, K. Rama Krishna, S. K. Saha
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081009.
Paper No: JMR-23-1302
https://doi.org/10.1115/1.4064065
Published Online: December 11, 2023
View Articletitled, Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space
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Topics: Equilibrium (Physics), Kinematics, Stability, Static stability
Journal Articles

Locust-Inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability

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Xiaojuan Mo, Wenjie Ge, Yifei Ren, Donglai Zhao, Dunwen Wei, Donato Romano
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061013.
Paper No: JMR-22-1560
https://doi.org/10.1115/1.4063406
Published Online: October 17, 2023
View Articletitled, Locust-Inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability
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Topics: Design, Kinematics, Modeling, Optimization, Robots, Springs, Stability, Stiffness, Dynamic modeling, Dynamic stability
Includes: Supplementary data
Journal Articles

Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

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Weixing Chen, Yu Wen, Xiaochuan Tong, Chaoxiong Lin, Jiang Li, Shuyou Wang, Wei Xie, Lifeng Mao, Xianchao Zhao, Weidong Zhang, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041015.
Paper No: JMR-23-1023
https://doi.org/10.1115/1.4062177
Published Online: May 2, 2023
View Articletitled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
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Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
Journal Articles

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

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Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
https://doi.org/10.1115/1.4062388
Published Online: May 2, 2023
View Articletitled, Emerging Gaits for a Quadrupedal Template Model With Segmented Legs
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Topics: Dynamics (Mechanics), Knee, Limit cycles, Robots, Springs, Stability, Stiffness, Equations of motion, Eigenvalues, Elasticity
Journal Articles

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

Free
Hyunjong Song, William Z. Peng, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011005.
Paper No: JMR-22-1508
https://doi.org/10.1115/1.4056956
Published Online: March 8, 2023
View Articletitled, Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction
Journal Articles

WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability

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Luca Bruzzone, Shahab Edin Nodehi, Dario De Domenico, Pietro Fanghella
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021007.
Paper No: JMR-22-1232
https://doi.org/10.1115/1.4056770
Published Online: March 3, 2023
View Articletitled, WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability
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Topics: Robots, Wheels, Stability, Stairs
Journal Articles

A Curved Compliant Differential Mechanism With Neutral Stability

Open Access
Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011003.
Paper No: JMR-22-1430
https://doi.org/10.1115/1.4056867
Published Online: March 3, 2023
View Articletitled, A Curved Compliant Differential Mechanism With Neutral Stability
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Topics: Potential energy, Springs, Stability, Stiffness, Symmetry (Physics), Deformation, Simulation
Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

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Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
View Articletitled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

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Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064501.
Paper No: JMR-22-1280
https://doi.org/10.1115/1.4056378
Published Online: January 18, 2023
View Articletitled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

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Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
View Articletitled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback