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Journal Articles

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
https://doi.org/10.1115/1.4062388
Published Online: May 2, 2023
View Article titled, Emerging Gaits for a Quadrupedal Template Model With Segmented Legs
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Topics: Dynamics (Mechanics), Knee, Limit cycles, Robots, Springs, Stability, Stiffness, Equations of motion, Eigenvalues, Elasticity
Journal Articles

Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms

Rajesh Kumar, Sudipto Mukherjee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051006.
Paper No: JMR-21-1173
https://doi.org/10.1115/1.4053374
Published Online: February 18, 2022
View Article titled, Algorithmic Selection of Preferred Grasp Poses Using Manipulability Ellipsoid Forms
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Topics: Algorithms, Kinematics, Robotics, Rotation, Eigenvalues, End effectors, Grasping
Journal Articles

Compound Topological Invariant Based Method for Detecting Isomorphism in Planar Kinematic Chains

Liang Sun, Zhizheng Ye, Rongjiang Cui, Wenjian Yang, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2020, 12(5): 054504.
Paper No: JMR-19-1517
https://doi.org/10.1115/1.4046840
Published Online: May 11, 2020
View Article titled, Compound Topological Invariant Based Method for Detecting Isomorphism in Planar Kinematic Chains
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Topics: Algorithms, Eigenvalues, Kinematic chains, String, Computation
Journal Articles

A Discrete Control Lyapunov Function for Exponential Orbital Stabilization of the Simplest Walker

Pranav A. Bhounsule, Ali Zamani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051011.
Paper No: JMR-17-1018
https://doi.org/10.1115/1.4037440
Published Online: August 18, 2017
View Article titled, A Discrete Control Lyapunov Function for Exponential Orbital Stabilization of the Simplest Walker
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Topics: Control equipment, Dynamics (Mechanics), Eigenvalues, Robustness, Stability, Torque, Actuators, Limit cycles, Failure, Robots
Journal Articles

Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization

Jingchen Hu, Tianshu Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031010.
Paper No: JMR-16-1192
https://doi.org/10.1115/1.4035373
Published Online: March 23, 2017
View Article titled, Pre-Impact Configuration Designing of a Robot Manipulator for Impact Minimization
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Topics: Impulse (Physics), Manipulators, Robots, Inertia (Mechanics), Design, Dynamic models, Eigenvalues, Collisions (Physics)
Journal Articles

Steinkamp's Toy Can Hop 100 Times But Can't Stand Up

Gregg Stiesberg, Tim van Oijen, Andy Ruina
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2017, 9(1): 011017.
Paper No: JMR-16-1265
https://doi.org/10.1115/1.4035337
Published Online: January 13, 2017
View Article titled, Steinkamp's Toy Can Hop 100 Times But Can't Stand Up
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Topics: Eigenvalues, Simulation, Springs, Stability, Damping, Limit cycles, Engineering simulation, Robots
Includes: Supplementary data
Journal Articles

Folding Behavior of a Foldable Prismatic Mast With Kresling Origami Pattern

Cai Jianguo, Deng Xiaowei, Zhang Yuting, Feng Jian, Zhou Ya
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2016, 8(3): 031004.
Paper No: JMR-15-1160
https://doi.org/10.1115/1.4032098
Published Online: March 7, 2016
View Article titled, Folding Behavior of a Foldable Prismatic Mast With Kresling Origami Pattern
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Topics: Buckling, Cylinders, Displacement, Stress, Eigenvalues, Geometry, Mechanical behavior
Journal Articles

Solving the Robot-World/Hand-Eye Calibration Problem Using the Kronecker Product

Mili Shah
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2013, 5(3): 031007.
Paper No: JMR-12-1131
https://doi.org/10.1115/1.4024473
Published Online: June 24, 2013
View Article titled, Solving the Robot-World/Hand-Eye Calibration Problem Using the Kronecker Product
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Topics: Calibration, Errors, Linear systems, Robots, Rotation, Eigenvalues