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Proceedings Papers

A Lightweight Mobile Robot for Climbing Steel Structures With an Extending and Bending Tape Spring Limb

Justin Quan, Mingzhang Zhu, Dennis Hong
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A084, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115048
https://doi.org/10.1115/DETC2023-115048
View Paper titled, A Lightweight Mobile Robot for Climbing Steel Structures With an Extending and Bending Tape Spring Limb
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Topics: Design, Mobile robots, Robots, Springs, Steel
Journal Articles

Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation

Justin Quan, Dennis Hong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031009.
Paper No: JMR-22-1267
https://doi.org/10.1115/1.4062150
Published Online: April 18, 2023
View Article titled, Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation
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Topics: End effectors, Kinematics, Mechanical admittance, Springs, Stress, Design, Shapes, Weight (Mass), Mobile robots, Engineering prototypes
Proceedings Papers

Extending and Bending Robotic Limbs Using Tape Springs for Mobility and Manipulation: Preliminary Investigations

Justin Quan, Dennis Hong
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A044, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89431
https://doi.org/10.1115/DETC2022-89431
View Paper titled, Extending and Bending Robotic Limbs Using Tape Springs for Mobility and Manipulation: Preliminary Investigations
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Topics: Mechanical admittance, Mobile robots, Robotics, Springs
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89801
https://doi.org/10.1115/DETC2022-89801
View Paper titled, Self-Aligning Rotational Latching Mechanisms
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Topics: Blades, Containers, Control equipment, Design, End effectors, Errors, Logistics, Mechanical admittance, Optimization, Paperboard
Proceedings Papers

Introduction and Preliminary Investigation of Buoyancy Assisted Robots That Are Cheap, Safe, and Will Never Fall Down

Matthew David Williams, Dennis Hong
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A022, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70631
https://doi.org/10.1115/DETC2021-70631
View Paper titled, Introduction and Preliminary Investigation of Buoyancy Assisted Robots That Are Cheap, Safe, and Will Never Fall Down
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Topics: Buoyancy, Robots, Drag (Fluid dynamics), Engineering simulation, Simulation, Weight (Mass), Ceilings, Energy consumption, Gases, Genetic algorithms
Proceedings Papers

Online Trajectory Optimization for Legged Robotics Incorporating Vision for Dynamically Efficient and Safe Footstep Locations

Joshua R. Hooks, Min Sung Ahn, Dennis Hong
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A069, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98039
https://doi.org/10.1115/DETC2019-98039
View Paper titled, Online Trajectory Optimization for Legged Robotics Incorporating Vision for Dynamically Efficient and Safe Footstep Locations
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Topics: Optimization, Robotics, Trajectories (Physics), Algorithms, Center of mass, Optimization algorithms, Robots, Simulation
Proceedings Papers

Design of a Novel Torsional Spring for the Next Generation Compliant Actuators

Jeong H. Yoon, Dennis Hong
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A053, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86374
https://doi.org/10.1115/DETC2018-86374
View Paper titled, Design of a Novel Torsional Spring for the Next Generation Compliant Actuators
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Topics: Actuators, Design, Springs, Absorption, Energy storage, Force control, Humanoid robots, Prostheses, Seas, Shock (Mechanics)
Proceedings Papers

Exploration of Turning Strategies for an Unconventional Non-Anthropomorphic Bipedal Robot

Jeffrey Yu, Joshua Hooks, Sepehr Ghassemi, Dennis Hong
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A021, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68051
https://doi.org/10.1115/DETC2017-68051
View Paper titled, Exploration of Turning Strategies for an Unconventional Non-Anthropomorphic Bipedal Robot
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Topics: Robots, Turning, Actuators, Engineering prototypes, Robotics, Stability, Wheels
Proceedings Papers

Experimental Validation of Unlumped Model and its Design Implications for Rotary Series Elastic Actuators

Jeong H. Yoon, Daniel Sun, Vidur Sanandan, Dennis Hong
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A034, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68074
https://doi.org/10.1115/DETC2017-68074
View Paper titled, Experimental Validation of Unlumped Model and its Design Implications for Rotary Series Elastic Actuators
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Topics: Actuators, Design, Seas, Force control, Stiffness, Design methodology, Dynamics (Mechanics), Engineering simulation, Errors, Simulation
Proceedings Papers

Minimizing the Energy Loss of the Bi-Articular Actuation in Bipedal Robots

Derek Lahr, Hak Yi, Dennis Hong
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A020, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47803
https://doi.org/10.1115/DETC2015-47803
View Paper titled, Minimizing the Energy Loss of the Bi-Articular Actuation in Bipedal Robots
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Topics: Energy dissipation, Robots, Actuators, Energy consumption, Genetic algorithms, Knee, Optimization
Proceedings Papers

Design of a Compact, Lightweight, Electromechanical Linear Series Elastic Actuator

Coleman Knabe, Bryce Lee, Viktor Orekhov, Dennis Hong
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A014, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35096
https://doi.org/10.1115/DETC2014-35096
View Paper titled, Design of a Compact, Lightweight, Electromechanical Linear Series Elastic Actuator
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Topics: Actuators, Design, Seas, Stress, Springs, Deflection, Packaging, Robots, Titanium, Universal joints
Proceedings Papers

An Inverted Straight Line Mechanism for Augmenting Joint Range of Motion in a Humanoid Robot

Coleman Knabe, Bryce Lee, Dennis Hong
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A015, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35123
https://doi.org/10.1115/DETC2014-35123
View Paper titled, An Inverted Straight Line Mechanism for Augmenting Joint Range of Motion in a Humanoid Robot
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Topics: Actuators, Design, Force control, Humanoid robots, Linkages, Manufacturing, Robotics, Robots, Screws, Seas
Proceedings Papers

Design of an Underactuated Robotic End-Effector With a Focus on Power Tool Manipulation

Michael Rouleau, Dennis Hong
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A027, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35513
https://doi.org/10.1115/DETC2014-35513
View Paper titled, Design of an Underactuated Robotic End-Effector With a Focus on Power Tool Manipulation
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Topics: Design, End effectors, Robotics, Actuators, Degrees of freedom, Disasters, Humanoid robots, Linkages, Servomotors
Proceedings Papers

Design of a Human-Like Range of Motion Hip Joint for Humanoid Robots

Bryce Lee, Coleman Knabe, Viktor Orekhov, Dennis Hong
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A018, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35214
https://doi.org/10.1115/DETC2014-35214
View Paper titled, Design of a Human-Like Range of Motion Hip Joint for Humanoid Robots
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Topics: Design, Humanoid robots, Torque, Degrees of freedom, Linkages, Yaw, Actuators, Disasters, Inertia (Mechanics), Robots
Journal Articles

Motion Planning of Uncertain Ordinary Differential Equation Systems

Joe Hays, Adrian Sandu, Corina Sandu, Dennis Hong
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. July 2014, 9(3): 031021.
Paper No: CND-12-1049
https://doi.org/10.1115/1.4026994
Published Online: May 13, 2014
View Article titled, Motion Planning of Uncertain Ordinary Differential Equation Systems
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Topics: Dynamics (Mechanics), Path planning, Design, Uncertainty, Polynomials
Proceedings Papers

Statics Analysis of Clemen’s Linkage for Robotic Applications

Derek Lahr, Dennis Hong
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A059, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13587
https://doi.org/10.1115/DETC2013-13587
View Paper titled, Statics Analysis of Clemen’s Linkage for Robotic Applications
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Topics: Linkages, Robotics, Statics, Manipulators, Actuators, Bearings, Degrees of freedom, Electromechanical actuators, Hardware, Humanoid robots
Proceedings Papers

Early Developments of a Parallelly Actuated Humanoid, SAFFiR

Derek Lahr, Viktor Orekhov, Bryce Lee, Dennis Hong
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A054, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12590
https://doi.org/10.1115/DETC2013-12590
View Paper titled, Early Developments of a Parallelly Actuated Humanoid, SAFFiR
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Topics: Actuators, Algorithms, Degrees of freedom, Design, Feedback, Fire, Humanoid robots, Manufacturing, Measurement units and standards, Robots
Proceedings Papers

Design and Measurement Error Analysis of a Low-Friction, Lightweight Linear Series Elastic Actuator

Bryce Lee, Viktor Orekhov, Derek Lahr, Dennis Hong
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A022, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13637
https://doi.org/10.1115/DETC2013-13637
View Paper titled, Design and Measurement Error Analysis of a Low-Friction, Lightweight Linear Series Elastic Actuator
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Topics: Actuators, Design, Error analysis, Friction, Seas, Errors, Force measurement, Robots, Stress, Cantilevers
Proceedings Papers

Configurable Compliance for Series Elastic Actuators

Viktor Orekhov, Derek Lahr, Bryce Lee, Dennis Hong
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A021, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13614
https://doi.org/10.1115/DETC2013-13614
View Paper titled, Configurable Compliance for Series Elastic Actuators
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Topics: Actuators, Stiffness, Design, Springs, Weight (Mass), Cantilevers, Design methodology, Dynamics (Mechanics), Engineering prototypes, Force control
Proceedings Papers

Motion Planning of Uncertain Under-Actuated Dynamical Systems: A Hybrid Dynamics Formulation

Joe Hays, Adrian Sandu, Corina Sandu, Dennis Hong
Proc. ASME. IMECE2011, Volume 9: Transportation Systems; Safety Engineering, Risk Analysis and Reliability Methods; Applied Stochastic Optimization, Uncertainty and Probability, 729-736, November 11–17, 2011
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2011-62694
https://doi.org/10.1115/IMECE2011-62694
View Paper titled, Motion Planning of Uncertain Under-Actuated Dynamical Systems: A Hybrid Dynamics Formulation
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Topics: Dynamic systems, Dynamics (Mechanics), Nonlinear programming, Optimization, Path planning