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Proceedings Papers

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

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

Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization

Wei-Ye Zhao, Suqin He, Chengtao Wen, Changliu Liu

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, V002T31A002, October 5–7, 2020

Paper No: DSCC2020-3208

DOI: https://doi.org/10.1115/DSCC2020-3208

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Topics: Optimization, Trajectories (Physics), Robots, Collisions (Physics), Path planning, Algorithms, Assembly lines, Dynamics (Mechanics), Grinding, Manufacturing

Proceedings Papers

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

Violet Mwaffo, Pietro De Lellis, Sean Humbert

Paper No: DSCC2020-3162

DOI: https://doi.org/10.1115/DSCC2020-3162

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Topics: Computer simulation, Design, Dynamics (Mechanics), Gravel, Kinematics, Mobile robots, Noise (Sound), Roads, Robotics, Robots

Proceedings Papers

Bearing-Only Localization of a Quasi-Static Sound Source With a Binaural Microphone Array

Aidan J. Bradley, Masoud J. Shirazi, Nicole Abaid

Paper No: DSCC2020-3235

DOI: https://doi.org/10.1115/DSCC2020-3235

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Topics: Bearings, Microphone arrays, Robots, Sensors, Anechoic chambers, Dynamic models, Engineering prototypes, Engineers, Machine learning, Robotics

Proceedings Papers

Nonholonomic Systems With Redundant Degrees of Freedom Can Exploit Nonlinear Frequency Response to Improve Speed and Efficiency of Locomotion

Vitaliy Fedonyuk, Colin Rodwell, Phanindra Tallapragada

Paper No: DSCC2020-3326

DOI: https://doi.org/10.1115/DSCC2020-3326

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Topics: Degrees of freedom, Frequency response, Dynamics (Mechanics), Robots, Chain, Oscillations, Robotics, Stiffness, Vehicles

Proceedings Papers

Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives

Amin Ghorbanpour, Hanz Richter

Paper No: DSCC2020-3200

DOI: https://doi.org/10.1115/DSCC2020-3200

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Topics: Motors, Robotics, Capacitors, Energy consumption, Control equipment, Manipulators, Motion control, Optimization, Pendulums, Robots

Proceedings Papers

Decentralized Iterative Learning Cooperative Impedance Control for a Team of Robot Manipulators

Xu Jin

Paper No: DSCC2020-3117

DOI: https://doi.org/10.1115/DSCC2020-3117

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Topics: Manipulators, Teams, Errors, Iterative learning control, Robotics, Robots, Simulation

Proceedings Papers

Maximum Correntropy Kalman Filter for Orientation Estimation With Application to LiDAR Inertial Odometry

Seyed Fakoorian, Matteo Palieri, Angel Santamaria-Navarro, Cataldo Guaragnella, Dan Simon, Ali-akbar Agha-mohammadi

Paper No: DSCC2020-3256

DOI: https://doi.org/10.1115/DSCC2020-3256

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Topics: Caves, Filtration, Kalman filters, Measurement units and standards, Robotics, Robots, Sensors

Proceedings Papers

Calibration and Validation of Dynamic Model for Simulating Robotic Finger Kinematics and Contact Forces

James A. Tigue, Stephen A. Mascaro

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, V001T03A003, October 8–11, 2019

Paper No: DSCC2019-8961

DOI: https://doi.org/10.1115/DSCC2019-8961

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Topics: Calibration, Dynamic models, Kinematics, Robotics, Tendons, Engineering simulation, Experimental methods, Modeling, Simulation

Proceedings Papers

Asymmetric Kinematic and Dynamic Models of Robotic Assisted Sit-to-Stand System for Stroke Rehabilitation

Jiaoying Jiang, Guangzhou Hu, Kok-Meng Lee

Paper No: DSCC2019-9207

DOI: https://doi.org/10.1115/DSCC2019-9207

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Topics: Dynamic models, Kinematics, Robotics, Design, Dynamics (Mechanics), Engineering simulation, Gravity (Force), Muscle, Simulation

Proceedings Papers

End-Effector Stabilization of a Wearable Robotic Arm Using Time Series Modeling of Human Disturbances

Vighnesh Vatsal, Guy Hoffman

Paper No: DSCC2019-8985

DOI: https://doi.org/10.1115/DSCC2019-8985

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Topics: End effectors, Modeling, Robotics, Time series, Delays, Feedback, Actuators, Errors, Manufacturing, Robots

Proceedings Papers

Adaptive Single Action Control Policies for Linearly Parameterized Systems

Osama Ennasr, Giorgos Mamakoukas, Maria Castaño, Demetris Coleman, Todd Murphey, Xiaobo Tan

Paper No: DSCC2019-9134

DOI: https://doi.org/10.1115/DSCC2019-9134

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Topics: Control equipment, Dynamics (Mechanics), Feedback, Needles, Nonlinear systems, Parameter estimation, Robotics, Simulation results

Proceedings Papers

Real-Time Path-Based Fusion of Spatial Databases With Temporal Control Inputs for Assistive Operation of Wheelchairs

Kelilah L. Wolkowicz, Robert D. Leary, Jason Z. Moore, Sean N. Brennan

Paper No: DSCC2019-9120

DOI: https://doi.org/10.1115/DSCC2019-9120

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Topics: Databases, Wheelchairs, Decision making, Control equipment, Locks (Waterways), Robotics, Testing

Proceedings Papers

Data-Based Learning for Control of Elastic Interactions Between Robot and Workpiece

Lance McCann, Chia-Ning Lee, Yoshua Gombo, Joseph Garbini, Santosh Devasia

Paper No: DSCC2019-9200

DOI: https://doi.org/10.1115/DSCC2019-9200

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Topics: Robots, Flexible structures, Robotics, Drilling, Elasticity, Manufacturing, Shear (Mechanics)

Proceedings Papers

Global-Position Tracking Control of Multi-Domain Planar Bipedal Robotic Walking

Yuan Gao, Yan Gu

Paper No: DSCC2019-9117

DOI: https://doi.org/10.1115/DSCC2019-9117

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Topics: Robotics, Tracking control, Robots, Dynamics (Mechanics), Closed loop systems, Construction, Engineering simulation, Modeling, Simulation

Proceedings Papers

Comparing Collective Foraging With Interactions Inspired by Pheromones and Sonar

Aidan J. Bradley, Masoud Jahromi Shirazi, Nicole Abaid

Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T15A005, October 8–11, 2019

Paper No: DSCC2019-9190

DOI: https://doi.org/10.1115/DSCC2019-9190

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Topics: Biomimetics, Control modeling, Food products, Multi-agent systems, Robotics

Proceedings Papers

Distributed Control of a Planar Discrete Elastic Rod Model for Caterpillar-Inspired Locomotion

Helene Nguewou-Hyousse, William L. Scott, Derek A. Paley

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, V003T20A010, October 8–11, 2019

Paper No: DSCC2019-9220

DOI: https://doi.org/10.1115/DSCC2019-9220

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Topics: Dampers, Design, Displacement, Feedback, Modeling, Network models, Robotics, Rods, Simulation results, Springs

Proceedings Papers

Evaluating the Performance of Foot Control of a Supernumerary Robotic Limb

Zachary Dougherty, Ryder C. Winck

Paper No: DSCC2019-8941

DOI: https://doi.org/10.1115/DSCC2019-8941

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Topics: Robotics

Proceedings Papers

Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

Xiongfeng Yi, Zheng Chen, Animesh Chakravarthy

Paper No: DSCC2019-9228

DOI: https://doi.org/10.1115/DSCC2019-9228

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Topics: Collisions (Physics), Robotics, Servomechanisms, Servomotors, Relaxation (Physics), Transfer functions, Composite materials, Metals, Polymers, Trajectories (Physics)

Proceedings Papers

Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor

Stephen Mascaro

Paper No: DSCC2019-9245

DOI: https://doi.org/10.1115/DSCC2019-9245

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Topics: Force control, Force sensors, Manipulators, Robots, Robotics, Additive manufacturing, Hybrid control, Matlab, Mechanical admittance, Motion control

2 3 4 5

NARROW

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

Contact-Rich Trajectory Generation in Confined Environments Using Iterative Convex Optimization

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

Bearing-Only Localization of a Quasi-Static Sound Source With a Binaural Microphone Array

Nonholonomic Systems With Redundant Degrees of Freedom Can Exploit Nonlinear Frequency Response to Improve Speed and Efficiency of Locomotion

Energy-Optimal, Direct-Phase Control of Brushless Motors for Robotic Drives

Decentralized Iterative Learning Cooperative Impedance Control for a Team of Robot Manipulators

Maximum Correntropy Kalman Filter for Orientation Estimation With Application to LiDAR Inertial Odometry

Calibration and Validation of Dynamic Model for Simulating Robotic Finger Kinematics and Contact Forces

Asymmetric Kinematic and Dynamic Models of Robotic Assisted Sit-to-Stand System for Stroke Rehabilitation

End-Effector Stabilization of a Wearable Robotic Arm Using Time Series Modeling of Human Disturbances

Adaptive Single Action Control Policies for Linearly Parameterized Systems

Real-Time Path-Based Fusion of Spatial Databases With Temporal Control Inputs for Assistive Operation of Wheelchairs

Data-Based Learning for Control of Elastic Interactions Between Robot and Workpiece

Global-Position Tracking Control of Multi-Domain Planar Bipedal Robotic Walking

Comparing Collective Foraging With Interactions Inspired by Pheromones and Sonar

Distributed Control of a Planar Discrete Elastic Rod Model for Caterpillar-Inspired Locomotion

Evaluating the Performance of Foot Control of a Supernumerary Robotic Limb

Cooperative Collision Avoidance Control of Robotic Fish Propelled by a Servo/IPMC Driven Hybrid Tail

Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor

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