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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

Locomotion of a Compliant Mechanism With Nonholonomic Constraints

Vitaliy Fedonyuk, Phanindra Tallapragada
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051006.
Paper No: JMR-19-1440
https://doi.org/10.1115/1.4046510
Published Online: April 13, 2020
View Article titled, Locomotion of a Compliant Mechanism With Nonholonomic Constraints
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Topics: Compliant mechanisms, Dynamics (Mechanics), Energy dissipation, Limit cycles, Oscillations, Robots, Degrees of freedom
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

Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions

Juan De la Fuente, Thomas G. Sugar, Sangram Redkar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2017, 9(2): 024502.
Paper No: JMR-16-1296
https://doi.org/10.1115/1.4036023
Published Online: March 9, 2017
View Article titled, Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions
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Topics: Control equipment, Limit cycles, Noise (Sound), Oscillations, Pendulums, Simulation, Damping, Trajectories (Physics), Signals, Robots
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

Design for Control of Wheeled Inverted Pendulum Platforms

Hari Vasudevan, Aaron M. Dollar, John B. Morrell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041005.
Paper No: JMR-13-1162
https://doi.org/10.1115/1.4029401
Published Online: November 1, 2015
View Article titled, Design for Control of Wheeled Inverted Pendulum Platforms
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Topics: Design, Limit cycles, Motors, Simulation, Tires, Wheels, Pendulums, Damping, Torque
Journal Articles

Limit Cycles to Enhance Human Performance Based on Phase Oscillators

Thomas G. Sugar, Andrew Bates, Matthew Holgate, Jason Kerestes, Marc Mignolet, Philip New, Ragesh K. Ramachandran, Sangram Redkar, Chase Wheeler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011001.
Paper No: JMR-14-1243
https://doi.org/10.1115/1.4029336
Published Online: February 1, 2015
View Article titled, Limit Cycles to Enhance Human Performance Based on Phase Oscillators
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Topics: Control equipment, Limit cycles, Robots, Damping, Exoskeleton devices, Torque, Signals, Energy harvesting