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Keywords: robot motion planning and control
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Journal Articles

Towing an Object With a Rover

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
... quasi-static simulations dynamics kinematics dynamics and control of mechanical systems mobile robots mobile robots in highly challenging environments multibody dynamics and control robot motion planning and control European Social Fund 10.13039/501100004895 Dottorati di Ricerca 35...
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
Journal Articles

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

A. Ghoul, S. Djeffal, H. Wang, K. Kara, M. L. Hadjili
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021002.
Paper No: JMR-23-1749
https://doi.org/10.1115/1.4065698
Published Online: July 19, 2024
... and dynamic modeling computed torque control particle swarm optimization bio-inspired cable-driven compliant mechanisms and robots kinematics dynamics control of mechanical systems mechanisms and robots motion and manipulation planning robot motion planning and control soft robots Robotic...
View Article titled, Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots
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Topics: Cables, Robots, Control equipment, Dynamic models, Kinematics
Journal Articles

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

Chengleng Han, Lin Xu, Mohamed A. A. Abdelkareem, Jia Mi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021006.
Paper No: JMR-23-1606
https://doi.org/10.1115/1.4065891
Published Online: July 19, 2024
... mechanism design mechanisms and robots robot motion planning and control Graphical Abstract Figure 06 10 2023 30 06 2024 01 07 2024 19 07 2024 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R...
View Article titled, Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing
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Topics: Chain, Cylinders, Design, Engines, Kinematics, Motors, Robots, Sliding mode control, Hydraulic cylinders, Trajectories (Physics)
Journal Articles

Positioning Error Estimation Models for Horizontal-Distributed Prismatic–Universal–Universal Parallel Mechanism

Jian-Dong Ke, Yu-Jen Wang, Jhy-Cherng Tsai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121010.
Paper No: JMR-23-1409
https://doi.org/10.1115/1.4065320
Published Online: May 29, 2024
... horizontal-distributed PUU parallel kinematic mechanism backpropagation neural network mechanism synthesis and analysis parallel mechanisms and robots parallel robots robot motion planning and control National Science Council 10.13039/501100001868 111-2218-E-110-004- Parallel...
View Article titled, Positioning Error Estimation Models for Horizontal-Distributed Prismatic–Universal–Universal Parallel Mechanism
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Topics: Errors, Kinematics, Artificial neural networks
Journal Articles

Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger

Runming Zhang, Xuechao Chen, Yu Zhang, Zhangguo Yu, Qiang Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124501.
Paper No: JMR-23-1321
https://doi.org/10.1115/1.4065024
Published Online: March 29, 2024
...@bit.edu.cn Email: qhuang@bit.edu.cn Contributed by Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 10 06 2023 29 02 2024 01 03 2024 29 03 2024 Graphical Abstract Figure legged robots robot motion...
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Topics: Algorithms, Control equipment, Cycles, Feedback, Humanoid robots, Modeling, Robots, Center of mass, Robot motion
Journal Articles

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

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
... for publication in the J ournal of M echanisms and R obotics . 29 10 2023 01 03 2024 05 03 2024 29 03 2024 Graphical Abstract Figure legged robots mobile robots robot motion planning and control Path planning and following is an important part of any robot’s...
View Article titled, Targeted Sampling Dynamic Window Approach: A Path-Aware Dynamic Window Approach Sampling Strategy for Omni-Directional Robots
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Topics: Robots, Navigation
Journal Articles

Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach

André Gallant, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091008.
Paper No: JMR-23-1455
https://doi.org/10.1115/1.4064570
Published Online: February 27, 2024
... robot motion planning and control 2 Since the optimization method employed in this work (SQP) is a gradient-based method, the global optimum cannot be guaranteed. However, considering the large number of optimizations performed in the analyses (11,000 for each manipulator), it is assumed...
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Topics: Design, Kinematics, Manipulators, Optimization, Trajectories (Physics)
Journal Articles

Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control

Yiqun Li, Jiahui Gao, Kai Chen, Wei Chen, Zhouping Yin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061014.
Paper No: JMR-23-1243
https://doi.org/10.1115/1.4063871
Published Online: November 14, 2023
... motion planning and control National Natural Science Foundation of China 10.13039/501100001809 51905185 Most of the research on mobile robots is based on wheeled driving or articulated walking mechanism. Wheeled robots own excellent driving stability and energy conversion efficiency...
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Topics: Collisions (Physics), Optimization, Robots, Trajectories (Physics), Wheels, Stairs, D'Alembert's principle
Journal Articles

A Cyclic Differentiable Manifold Representation of Redundant Manipulator Kinematics

Edward J. Haug
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061005.
Paper No: JMR-23-1245
https://doi.org/10.1115/1.4063038
Published Online: August 16, 2023
... obotics . 27 04 2023 17 07 2023 21 07 2023 16 08 2023 cyclic redundant manipulators manipulator differentiable manifold inverse manipulator kinematics kinematics dynamics and control of mechanical systems mechanisms and robots robot motion planning and control...
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Topics: Kinematics, Manifolds, Manipulators, Redundant manipulators