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Proceedings Papers

Finding Optimal Sequence of Mobile Manipulator Placements for Automated Coverage Planning of Large Complex Parts

Rishi Malhan, Satyandra K. Gupta
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A006, August 14–17, 2022
Paper No: DETC2022-90105
DOI: https://doi.org/10.1115/DETC2022-90105
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Topics: Manipulators, Sensors, Robotics, Uncertainty, Algorithms, Computation, Construction, Degrees of freedom, Geometry, Kinematics
Proceedings Papers

Context-Aware Industrial Robot Testing: Low-Cost Virtual Prototyping Environment

Alessandro Pozzi, Luca Puricelli, Marco Rossoni, Elena Spadoni, Marina Carulli, Monica Bordegoni, Giorgio Colombo
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A056, August 14–17, 2022
Paper No: DETC2022-88794
DOI: https://doi.org/10.1115/DETC2022-88794
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Topics: Robots, Testing, Virtual reality, Algorithms, Bridges (Structures), Cutting, Kinematics, Robotics, Simulation, Trajectories (Physics)
Proceedings Papers

Human Grasping Force Prediction, Measurement, and Validation for Human-Robot Lifting

Asif Arefeen, Joel Quarnstrom, Shahbaz P Qadri Syed, He Bai, Yujiang Xiang
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A025, August 14–17, 2022
Paper No: DETC2022-89752
DOI: https://doi.org/10.1115/DETC2022-89752
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Topics: Grasping, Robots
Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Paper No: DETC2022-89384
DOI: https://doi.org/10.1115/DETC2022-89384
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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes
Proceedings Papers

Towards Creating Robust Walking Multi-Legged Robots for Traversing Different Terrains

Nina Robson, Vanessa Audrey
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A054, August 14–17, 2022
Paper No: DETC2022-90614
DOI: https://doi.org/10.1115/DETC2022-90614
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Topics: Robots, Kinematics, Design, Robotics, Testing, Trajectories (Physics)
Proceedings Papers

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A040, August 14–17, 2022
Paper No: DETC2022-90206
DOI: https://doi.org/10.1115/DETC2022-90206
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Topics: Center of mass, Design, Kinematics, Reliability, Robots, Wheels
Proceedings Papers

A Modular Continuum Manipulator for Aerial Manipulation and Perching

Qianwen Zhao, Guoqing Zhang, Hamidreza Jafarnejadsani, Long Wang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A014, August 14–17, 2022
Paper No: DETC2022-90595
DOI: https://doi.org/10.1115/DETC2022-90595
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Topics: Cables, Design, Kinematics, Manipulators, Modeling, Stiffness, Unmanned aerial vehicles, Biomimetics, Compliant mechanisms, Engineering prototypes
Proceedings Papers

Jamming-Reinforced Inflatable Beams for Mobile Robotics

William P. Weston-Dawkes, Michael T. Tolley
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A045, August 14–17, 2022
Paper No: DETC2022-89533
DOI: https://doi.org/10.1115/DETC2022-89533
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Topics: Robotics, Buckling, Stress, Bearings, Failure, Space, Stiffness, Deflection, Engineering prototypes, Manufacturing
Proceedings Papers

Self-Aligning Rotational Latching Mechanisms

Gabriel I. Fernandez, Samuel Gessow, Justin Quan, Dennis Hong
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A024, August 14–17, 2022
Paper No: DETC2022-89801
DOI: https://doi.org/10.1115/DETC2022-89801
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Topics: Blades, Containers, Control equipment, Design, End effectors, Errors, Logistics, Mechanical admittance, Optimization, Paperboard
Proceedings Papers

A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments

Sri Sadhan Jujjavarapu, Ehsan Tarkesh Esfahani
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A018, August 14–17, 2022
Paper No: DETC2022-91310
DOI: https://doi.org/10.1115/DETC2022-91310
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Topics: Stiffness, Collisions (Physics), Robots, Displacement, End effectors, Damage, Magnets, Manipulators, Permanent magnets, Robotics
Proceedings Papers

Kinematics of an Origami Inspired Millipede Robot

Chenying Liu, Zhong You, Perla Maiolino
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A062, August 14–17, 2022
Paper No: DETC2022-88998
DOI: https://doi.org/10.1115/DETC2022-88998
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Topics: Kinematics, Origami-inspired design, Robots, Design, Manufacturing, Biomimetics, Chain, Degrees of freedom, Exoskeleton devices, Kinematic analysis
Proceedings Papers

Design and Modeling of a Robot for De-Icing Overhead Power Lines

Carl A. Nelson
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A046, August 14–17, 2022
Paper No: DETC2022-89554
DOI: https://doi.org/10.1115/DETC2022-89554
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Topics: Deicing, Design, Modeling, Robotics, Robots, Transmission lines
Proceedings Papers

Maneuvering Control of a Planar Snake Robot Locomotion Using a Combined Heading-Velocity-Shape Strategy

Mahdi Haghshenas-Jaryani
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A035, August 14–17, 2022
Paper No: DETC2022-87984
DOI: https://doi.org/10.1115/DETC2022-87984
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Topics: Robots, Shapes, Control algorithms, Control equipment, Dynamics (Mechanics), Kinematics, Navigation, Phase shift, Simulation, Simulation results
Proceedings Papers

Modeling and Validation of Compliant Mechanisms and Soft Robots in MATLAB Simscape

Andrea Contreras-Esquen, Jose Bonilla Martinez, Martin Garcia, Amir Ali Amiri Moghadam, Ayse Tekes
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A008, August 14–17, 2022
Paper No: DETC2022-89749
DOI: https://doi.org/10.1115/DETC2022-89749
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Topics: Compliant mechanisms, Matlab, Modeling, Robotics, Robots
Proceedings Papers

Real-Time Simulation of Ground Vehicles on Deformable Terrain

Radu Serban, Jay Taves, Zhenhao Zhou
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A012, August 14–17, 2022
Paper No: DETC2022-89470
DOI: https://doi.org/10.1115/DETC2022-89470
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Topics: Simulation, Vehicles, Modeling, Soil, Hardware, Roads, Aerospace industry, Autonomous vehicles, Design, Dynamics (Mechanics)
Proceedings Papers

Automated Weld Path Generation Using Random Sample Consensus and Iterative Closest Point Workpiece Localization

Tristan Hill, Stephen Canfield, Robert Shelton
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A039, August 14–17, 2022
Paper No: DETC2022-90082
DOI: https://doi.org/10.1115/DETC2022-90082
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Topics: Computer-aided design, Geometry, Jigs and fixtures, Manufacturing, Painting, Robotics, Robots, Safety, Teaching, Tooling
Proceedings Papers

Evaluation and Modification of Kinetic Gas Collision Theory as Applied to Encounter Rate Dynamics for Multi-Robot Groups and Robot Swarms

Adam Schroeder, Mark Rooney, Glenn Lipscomb
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A014, August 14–17, 2022
Paper No: DETC2022-88465
DOI: https://doi.org/10.1115/DETC2022-88465
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Topics: Collisions (Physics), Dynamics (Mechanics), Multi-robot systems, Robots, Swarm robotics
Proceedings Papers

Design of a Crawling Robot Based on Origami Structures

Shuiqing Yan, Qi Wei, Jiake Li, Zhe Ma, Xiang Zhou
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A068, August 14–17, 2022
Paper No: DETC2022-89693
DOI: https://doi.org/10.1115/DETC2022-89693
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Topics: Design, Robots, Simulation
Proceedings Papers

Application Oriented Modelling and Simulation of an Innovative Parallel Robot for Single Incision Laparoscopic Surgery

Doina Pisla, Bogdan Gherman, Paul Tucan, Iosif Birlescu, Alexandru Pusca, Gabriela Rus, Adrian Pisla, Calin Vaida
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A032, August 14–17, 2022
Paper No: DETC2022-89968
DOI: https://doi.org/10.1115/DETC2022-89968
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Topics: Modeling, Robots, Simulation, Surgery
Proceedings Papers

Task Modification Scheme for a Collaborative Robot

Hardeep Singh, Rajesh Kumar, Subir Kumar Saha
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A075, August 14–17, 2022
Paper No: DETC2022-89720
DOI: https://doi.org/10.1115/DETC2022-89720
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Topics: Robots, Sliding mode control, Algorithms, Control equipment, End effectors, Human dynamics, Ignorance, Trajectories (Physics), Dynamics (Mechanics), Inertia (Mechanics)