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Journal Articles

Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage

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Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044508.
Paper No: JMR-24-1438
https://doi.org/10.1115/1.4066905
Published Online: November 18, 2024
View Articletitled, Motion Planning for Nonprehensile Object Manipulation Using Novel 5-Bar Linkage
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Topics: Kinematics, Robots, Path planning, Trajectories (Physics), Linkages
Proceedings Papers

Swarm Inspired Path-Constrained Motion Planning for Maintaining Communication Within Multiple Robot Systems

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Jabez Kit Leong, Brandon J. Lawrence, Gim Song Soh
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A025, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-142982
https://doi.org/10.1115/DETC2024-142982
View Paper titled, Swarm Inspired Path-Constrained Motion Planning for Maintaining Communication Within Multiple Robot Systems
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Topics: Path planning, Robots, Teams, Cities, Dynamics (Mechanics), Engineering simulation, Multi-robot systems, Robotics, Simulation, Vehicles
Journal Articles

Targeted Sampling Dynamic Window Approach: A Path-Aware Dynamic Window Approach Sampling Strategy for Omni-Directional Robots

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Chen Shen, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111001.
Paper No: JMR-23-1662
https://doi.org/10.1115/1.4065073
Published Online: March 29, 2024
View Articletitled, Targeted Sampling Dynamic Window Approach: A Path-Aware Dynamic Window Approach Sampling Strategy for Omni-Directional Robots
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Topics: Robots, Navigation
Proceedings Papers

Targeted Sampling DWA: A Path-Aware DWA Sampling Strategy for Omni-Directional Robots

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Chen Shen, Gim Song Soh
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A061, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116450
https://doi.org/10.1115/DETC2023-116450
View Paper titled, Targeted Sampling DWA: A Path-Aware DWA Sampling Strategy for Omni-Directional Robots
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Topics: Robots, Navigation, Generators, Robot motion, Sensors, Simulation
Proceedings Papers

A Heuristic Approach to Classify Geometrically Defective Bead Segments Based on Range of Curvature, Range of Sound Power and Maximum Height

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Nowrin Akter Surovi, Gim Song Soh
Proc. ASME. IDETC-CIE2023, Volume 3A: 49th Design Automation Conference (DAC), V03AT03A005, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114741
https://doi.org/10.1115/DETC2023-114741
View Paper titled, A Heuristic Approach to Classify Geometrically Defective Bead Segments Based on Range of Curvature, Range of Sound Power and Maximum Height
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Topics: Additive manufacturing, Density, Errors, Optical quality control, Wire
Journal Articles

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

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Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011002.
Paper No: JMR-22-1436
https://doi.org/10.1115/1.4056711
Published Online: March 3, 2023
View Articletitled, “On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion
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Topics: Design, Robots, Wheels, Torque, Kinematics
Proceedings Papers

A Study of Machine Learning Framework for Enabling Early Defect Detection in Wire Arc Additive Manufacturing Processes

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Nowrin Akter Surovi, Shaista Hussain, Gim Song Soh
Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A002, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89164
https://doi.org/10.1115/DETC2022-89164
View Paper titled, A Study of Machine Learning Framework for Enabling Early Defect Detection in Wire Arc Additive Manufacturing Processes
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Topics: Additive manufacturing, Flaw detection, Machine learning, Wire, Acoustics, Printing, Support vector machines, Pressure
Proceedings Papers

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

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Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A040, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90206
https://doi.org/10.1115/DETC2022-90206
View Paper titled, “On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion
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Topics: Center of mass, Design, Kinematics, Reliability, Robots, Wheels
Journal Articles

Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion

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Nina Robson, Bin Yun Chen, Jong-Seob Won, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011004.
Paper No: JMR-21-1432
https://doi.org/10.1115/1.4054168
Published Online: April 25, 2022
View Articletitled, Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion
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Topics: Design, Grasping, Chain, Physiology, Kinematics
Proceedings Papers

A Study on the Acoustic Signal Based Frameworks for the Real-Time Identification of Geometrically Defective Wire Arc Bead

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Nowrin Akter Surovi, Audelia G. Dharmawan, Gim Song Soh
Proc. ASME. IDETC-CIE2021, Volume 3A: 47th Design Automation Conference (DAC), V03AT03A003, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69573
https://doi.org/10.1115/DETC2021-69573
View Paper titled, A Study on the Acoustic Signal Based Frameworks for the Real-Time Identification of Geometrically Defective Wire Arc Bead
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Topics: Acoustics, Signals, Wire, Artificial neural networks, Bronze, Stainless steel, Additive manufacturing, Machine learning, Principal component analysis, Sensors
Journal Articles

Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow

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Jun Liang Lau, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031012.
Paper No: JMR-20-1418
https://doi.org/10.1115/1.4050142
Published Online: March 15, 2021
View Articletitled, Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow
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Topics: Sensors, Design, Textiles
Proceedings Papers

A Study on the Machine Learning Framework for the Geometric Modelling of Wire Arc Bead Profile

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Xi Yu Oh, Gim Song Soh
Proc. ASME. IDETC-CIE2020, Volume 6: 25th Design for Manufacturing and the Life Cycle Conference (DFMLC), V006T06A001, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22295
https://doi.org/10.1115/DETC2020-22295
View Paper titled, A Study on the Machine Learning Framework for the Geometric Modelling of Wire Arc Bead Profile
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Topics: Geometric modeling, Machine learning, Wire, Geometry, Additive manufacturing, Artificial neural networks, Goodness-of-fit tests, Manufacturing, Modeling, Polynomials
Proceedings Papers

Characterisation, Design and Experimentation of a Fabric Based Wearable Joint Sensing Device

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Jun Liang Lau, Gim Song Soh
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A040, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22249
https://doi.org/10.1115/DETC2020-22249
View Paper titled, Characterisation, Design and Experimentation of a Fabric Based Wearable Joint Sensing Device
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Topics: Design, Sensors, Textiles, Chain, Errors, Linkages, Robotics, Sports
Proceedings Papers

Creating Robust Passive Multi-Loop Wearable Hand Devices

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Nina Robson, Bin Yun Chen, Jong-Seob Won, Gim Song Soh
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A035, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97623
https://doi.org/10.1115/DETC2019-97623
View Paper titled, Creating Robust Passive Multi-Loop Wearable Hand Devices
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Topics: Actuators, Chain, Conceptual design, Design, Dimensions, Engineering prototypes, Grasping, Kinematics, Mechanical admittance, Physiology
Proceedings Papers

A Highly Manoeuvrable and Untethered Under-Actuated Legged Piezoelectric Miniature Robot

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Hassan H. Hariri, Gim Song Soh, Shaohui Foong, Kristin L. Wood
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A004, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97353
https://doi.org/10.1115/DETC2019-97353
View Paper titled, A Highly Manoeuvrable and Untethered Under-Actuated Legged Piezoelectric Miniature Robot
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Topics: Robots, Rotation, Aluminum, Diamonds, Vibration, Actuators, Center of mass, Compliant mechanisms, Design, Electronics
Journal Articles

Design, Modeling, and Experimentation of a Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives

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Audelia G. Dharmawan, Priti Xavier, Hassan H. Hariri, Gim Song Soh, Avinash Baji, Roland Bouffanais, Shaohui Foong, Hong Yee Low, Kristin L. Wood
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020902.
Paper No: JMR-18-1348
https://doi.org/10.1115/1.4042457
Published Online: February 22, 2019
View Articletitled, Design, Modeling, and Experimentation of a Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives
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Topics: Adhesives, Design, Robots, Modeling, Torque
Proceedings Papers

A Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives: Design, Modeling, and Experimentation

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Audelia G. Dharmawan, Priti Xavier, David Anderson, K. Blake Perez, Hassan H. Hariri, Gim Song Soh, Avinash Baji, Roland Bouffanais, Shaohui Foong, Hong Yee Low, Kristin L. Wood
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A036, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85294
https://doi.org/10.1115/DETC2018-85294
View Paper titled, A Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives: Design, Modeling, and Experimentation
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Topics: Adhesives, Biomimetics, Design, Modeling, Robots, Engineering prototypes, Equilibrium (Physics), Performance, Torque, Wheels
Proceedings Papers

Localization of a Miniature Spherical Rolling Robot Using IMU, Odometry and UWB

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Van Duong Nguyen, Gim Song Soh, Shaohui Foong, Kristin Wood
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A070, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85548
https://doi.org/10.1115/DETC2018-85548
View Paper titled, Localization of a Miniature Spherical Rolling Robot Using IMU, Odometry and UWB
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Topics: Robots, Collisions (Physics), Kinematics, Sensors, Errors, Kalman filters, Measurement units and standards, Mechanical admittance, Spherical shells, Surveillance
Journal Articles

Task-Constrained Optimal Motion Planning of Redundant Robots Via Sequential Expanded Lagrangian Homotopy

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Audelia G. Dharmawan, Shaohui Foong, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031010.
Paper No: JMR-17-1178
https://doi.org/10.1115/1.4039395
Published Online: April 5, 2018
View Articletitled, Task-Constrained Optimal Motion Planning of Redundant Robots Via Sequential Expanded Lagrangian Homotopy
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Topics: Path planning, Robots, Kinematics
Journal Articles

Design, Analysis, and Characterization of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage

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Audelia G. Dharmawan, Hassan H. Hariri, Gim Song Soh, Shaohui Foong, Kristin L. Wood
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021003.
Paper No: JMR-17-1295
https://doi.org/10.1115/1.4038970
Published Online: February 1, 2018
View Articletitled, Design, Analysis, and Characterization of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage
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Topics: Design, Robots, Linkages, Displacement, Actuators, Cycles, Gait analysis