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Proceedings Papers

Dynamic Locomotion of a Lower-Limb Exoskeleton Through Virtual Constraints Based ZMP Regulation

Victor Paredes, Ayonga Hereid
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T14A001, October 5–7, 2020
Paper No: DSCC2020-3170
DOI: https://doi.org/10.1115/DSCC2020-3170
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Topics: Exoskeleton devices, Dynamics (Mechanics), Hardware, Robots, Stability, Center of mass, Control equipment, Force sensors, Motion control, Robotics
Proceedings Papers

Dynamic Genetic Algorithm for Optimizing Movement of a Six-Limb Creature

Javier Viaña Perez, Drew Scott, Manish Kumar, Kelly Cohen
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A005, October 5–7, 2020
Paper No: DSCC2020-3243
DOI: https://doi.org/10.1115/DSCC2020-3243
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Topics: Genetic algorithms, Algorithms, Center of mass, Displacement, Engineering simulation, Simulation
Proceedings Papers

The Effect of Time Delay on the Stability Control of Trailers

Hanna Zs. Horvath, Denes Takacs
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T38A004, October 5–7, 2020
Paper No: DSCC2020-3254
DOI: https://doi.org/10.1115/DSCC2020-3254
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Topics: Delays, Stability, Braking, Vehicles, Yaw, Center of mass, Computer simulation, Control algorithms, Control equipment, Dampers
Proceedings Papers

Apex Height Control of a Two-DOF Ankle-Knee-Hip Robot Hopping on a Rigid Foundation

Amer Allafi, Ranjan Mukherjee
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A002, October 8–11, 2019
Paper No: DSCC2019-8921
DOI: https://doi.org/10.1115/DSCC2019-8921
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Topics: Knee, Robots, Control equipment, Damping, Center of mass, Energy dissipation, Simulation results
Proceedings Papers

A Passive Jumping Mechanism

Phanindra Tallapragada, Jake Buzhardt, Robert Seney
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A010, October 8–11, 2019
Paper No: DSCC2019-9194
DOI: https://doi.org/10.1115/DSCC2019-9194
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Topics: Center of mass, Design, Gravity (Force), Robots
Proceedings Papers

Backstepping-Based Trajectory Tracking for Underwater Gliders

Demetris Coleman, Maria Castaño, Osama Ennasr, Xiaobo Tan
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A005, October 8–11, 2019
Paper No: DSCC2019-9028
DOI: https://doi.org/10.1115/DSCC2019-9028
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Topics: Trajectories (Physics), Control equipment, Dynamics (Mechanics), Errors, Buoyancy, Center of mass, Engineering simulation, Oceans, Simulation
Proceedings Papers

Energy-Efficient Adaptive Robust Control of Vector Thrust UAVs With Unknown Inertia Parameters

Caiwu Ding, Lu Lu, Cong Wang
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T36A005, September 30–October 3, 2018
Paper No: DSCC2018-9133
DOI: https://doi.org/10.1115/DSCC2018-9133
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Topics: Inertia (Mechanics), Robust control, Thrust, Unmanned aerial vehicles, Uncertainty, Control equipment, Propellers, Center of mass, Energy consumption, Optimization
Proceedings Papers

The Effect of Nonlinear Springs in Jumping Mechanisms

Sahand Sadeghi, Blake D. Betsill, Phanindra Tallapragada, Suyi Li
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A002, September 30–October 3, 2018
Paper No: DSCC2018-8969
DOI: https://doi.org/10.1115/DSCC2018-8969
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Topics: Springs, Compression, Displacement, Stiffness, Tension, Center of mass, Energy storage, Equations of motion, Oscillations, Robotics
Proceedings Papers

Capturability of Inverted Pendulum Gait Model Under Slip Conditions

Marko Mihalec, Jingang Yi
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T12A003, September 30–October 3, 2018
Paper No: DSCC2018-9203
DOI: https://doi.org/10.1115/DSCC2018-9203
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Topics: Pendulums, Friction, Center of mass, Stability
Proceedings Papers

Apex Height Control of a Two-Mass Robot Hopping on a Viscoelastic Foundation With Inertia

Amer Allafi, Frank B. Mathis, Ranjan Mukherjee
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A004, September 30–October 3, 2018
Paper No: DSCC2018-8975
DOI: https://doi.org/10.1115/DSCC2018-8975
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Topics: Inertia (Mechanics), Robots, Degrees of freedom, Hybrid control, Center of mass, Control equipment, Dampers, Damping, Energy dissipation, Simulation results
Proceedings Papers

Reachability Analysis for Robustness Evaluation of the Sit-to-Stand Movement for Powered Lower Limb Orthoses

Octavio Narvaez-Aroche, Andrew Packard, Pierre-Jean Meyer, Murat Arcak
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A006, September 30–October 3, 2018
Paper No: DSCC2018-9066
DOI: https://doi.org/10.1115/DSCC2018-9066
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Topics: Orthotics, Robustness, Approximation, Center of mass, Dynamics (Mechanics), Modeling, Robots, Space, Uncertainty
Proceedings Papers

Combined Plant and Controller Design Using Bayesian Optimization: A Case Study in Airborne Wind Energy Systems

Ali Baheri, Joseph Deese, Christopher Vermillion
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T40A003, October 11–13, 2017
Paper No: DSCC2017-5242
DOI: https://doi.org/10.1115/DSCC2017-5242
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Topics: Control equipment, Design, Optimization, Wind energy systems, System dynamics, Buoyancy, Center of mass, Engineering simulation, Simulation, Turbines
Proceedings Papers

Detection of Vehicle Tripped and Untripped Rollovers by a Novel Index With Mass-Center-Position Estimations

Fengchen Wang, Yan Chen
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T33A003, October 11–13, 2017
Paper No: DSCC2017-5149
DOI: https://doi.org/10.1115/DSCC2017-5149
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Topics: Vehicles, Tires, Center of mass, D'Alembert's principle, Roads, Simulation, Simulation results, Stress
Proceedings Papers

Trajectory Generation for a Lower Limb Exoskeleton for Sit-to-Stand Transition Using a Genetic Algorithm

Ameya S. Chamnikar, Gaurav Patil, Mohammadreza Radmanesh, Manish Kumar
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T36A004, October 11–13, 2017
Paper No: DSCC2017-5261
DOI: https://doi.org/10.1115/DSCC2017-5261
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Topics: Exoskeleton devices, Genetic algorithms, Trajectories (Physics), Control equipment, Degrees of freedom, Center of mass, Dynamic systems, Dynamics (Mechanics), Engineering simulation, Feedback
Proceedings Papers

Motion Planning of the Sit to Stand Movement for Powered Lower Limb Orthoses

Octavio Narvaez-Aroche, Andrew Packard, Murat Arcak
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T38A004, October 11–13, 2017
Paper No: DSCC2017-5289
DOI: https://doi.org/10.1115/DSCC2017-5289
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Topics: Orthotics, Path planning, Robots, Center of mass, Control equipment, Design, Equations of motion, Feedback, Kinematics, Modeling
Proceedings Papers

System Identification and Optimal Control of Half-Car Active Suspension System Using a Single Noisy IMU With Position Uncertainty

Tamer Attia, Kevin Kochersberger, John Bird, Steve C. Southward
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T04A002, October 11–13, 2017
Paper No: DSCC2017-5097
DOI: https://doi.org/10.1115/DSCC2017-5097
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Topics: Optimal control, Suspension systems, Uncertainty, Control equipment, Vehicles, Actuators, Wheels, Center of mass, Degrees of freedom, Feedback
Proceedings Papers

A New Method in Estimating Vehicle Center of Gravity Position Parameters Based on Ackermann’s Steering

Zitian Yu, Junmin Wang
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T31A001, October 12–14, 2016
Paper No: DSCC2016-9674
DOI: https://doi.org/10.1115/DSCC2016-9674
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Topics: Center of mass, Vehicles, Tires, Engineering simulation, Equations of motion, Geometry, Pendulums, Sensors, Signals, Simulation
Proceedings Papers

Efficient Spatial Dynamics for Continuum Arms

Isuru S. Godage, Raul Wirz, Ian D. Walker, Robert J. Webster, III
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T53A005, October 28–30, 2015
Paper No: DSCC2015-9932
DOI: https://doi.org/10.1115/DSCC2015-9932
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Topics: Dynamics (Mechanics), Dynamic models, Center of mass, Muscle, Robots, Steady state, Transients (Dynamics)
Proceedings Papers

Simultaneous Stabilization of Pitch and Yaw of a Gliding Robotic Fish Using Sliding Mode Control

Maria L. Castaño, Xiaobo Tan
Proc. ASME. DSCC2015, Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems, V001T04A004, October 28–30, 2015
Paper No: DSCC2015-9914
DOI: https://doi.org/10.1115/DSCC2015-9914
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Topics: Robotics, Sliding mode control, Yaw, Control equipment, Robots, Actuators, Center of mass, Design, Errors, Sensors
Proceedings Papers

Combining Genetic Algorithms and Extended Kalman Filter to Estimate Ankle’s Muscle-Tendon Parameters

Luis Enrique Coronado, Raul Chavez-Romero, Mauro Maya, Antonio Cardenas, Davide Piovesan
Proc. ASME. DSCC2015, Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems, V001T15A002, October 28–30, 2015
Paper No: DSCC2015-9781
DOI: https://doi.org/10.1115/DSCC2015-9781
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Topics: Genetic algorithms, Kalman filters, Muscle, Tendons, Stability, Algorithms, Biomechanics, Center of mass, Musculoskeletal system, Parameter estimation