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Gregory S. Chirikjian
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Journal Articles

Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots

Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031010.
Paper No: JMR-22-1294
https://doi.org/10.1115/1.4062273
Published Online: April 21, 2023
View Article titled, Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots
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Topics: Calibration, Control equipment, Design, Grippers, Humanoid robots, Pressure, Trajectories (Physics), Stress, Robots, Weight (Mass)
Proceedings Papers

A Comparison of Continuum and Lumped-Mass Models for Hyper-Redundant Manipulator Mechanics

Gregory S. Chirikjian
Proc. ASME. DETC93, 14th Biennial Conference on Mechanical Vibration and Noise: Vibrations and Dynamics of Robotic and Multibody Structures, 1-6, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0137
https://doi.org/10.1115/DETC1993-0137
View Paper titled, A Comparison of Continuum and Lumped-Mass Models for Hyper-Redundant Manipulator Mechanics
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Topics: Manipulators, Computation, Dynamics (Mechanics), Degrees of freedom, Actuators, Algorithms, Approximation, Robotics
Proceedings Papers

Closed-Form Primitives for Generating Volume Preserving Deformations

Gregory S. Chirikjian
Proc. ASME. DETC93, 19th Design Automation Conference: Volume 2 — Design Optimization; Geometric Modeling and Tolerance Analysis; Mechanism Synthesis and Analysis; Decomposition and Design Optimization, 397-402, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0412
https://doi.org/10.1115/DETC1993-0412
View Paper titled, Closed-Form Primitives for Generating Volume Preserving Deformations
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Topics: Deformation, Design, Simulation, Computer-aided engineering, Continuum mechanics, Equations of motion, Preservation, Strength (Materials)
Proceedings Papers

Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators

Gregory S. Chirikjian
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 161-167, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0319
https://doi.org/10.1115/DETC1994-0319
View Paper titled, Kinematic Synthesis of Mechanisms and Robotic Manipulators With Binary Actuators
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Topics: Actuators, Kinematics, Manipulators, Feedback, Robotics, Algorithms, Manipulator design, Pneumatic cylinders, Solenoids
Proceedings Papers

Discretely Actuated Manipulator Workspace Generation by Closed-Form Convolution

Imme Ebert-Uphoff, Gregory S. Chirikjian
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A014, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1162
https://doi.org/10.1115/96-DETC/MECH-1162
View Paper titled, Discretely Actuated Manipulator Workspace Generation by Closed-Form Convolution
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Topics: Manipulators, Density, Computation, Actuators
Proceedings Papers

An Efficient Trajectory Planning Method for Binary Manipulators

David S. Lees, Gregory S. Chirikjian
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A048, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1161
https://doi.org/10.1115/96-DETC/MECH-1161
View Paper titled, An Efficient Trajectory Planning Method for Binary Manipulators
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Topics: Manipulators, Trajectories (Physics), Actuators, End effectors, Kinematics, Robustness
Proceedings Papers

Numerical Synthesis of Binary Manipulator Workspaces Using the Fourier Transform on the Euclidean Motion Group

Alexander Kyatkin, Gregory S. Chirikjian
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A015, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5993
https://doi.org/10.1115/DETC98/MECH-5993
View Paper titled, Numerical Synthesis of Binary Manipulator Workspaces Using the Fourier Transform on the Euclidean Motion Group
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Topics: Fourier transforms, Manipulators, Density, Design, Fittings, Inverse problems, Kinematics
Proceedings Papers

Convolution Metrics for Rigid Body Motion

Gregory S. Chirikjian
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A033, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5899
https://doi.org/10.1115/DETC98/MECH-5899
View Paper titled, Convolution Metrics for Rigid Body Motion
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Topics: Kinematics, Robotics
Proceedings Papers

Workspace Generation As a Diffusion Process

Yunfeng Wang, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 133-137, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14063
https://doi.org/10.1115/DETC2000/MECH-14063
View Paper titled, Workspace Generation As a Diffusion Process
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Topics: Density, Diffusion (Physics), Diffusion processes, Fourier transforms, Kinematics, Manipulators, Partial differential equations
Proceedings Papers

Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor

David Stein, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 595-601, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14115
https://doi.org/10.1115/DETC2000/MECH-14115
View Paper titled, Experiments in the Commutation and Motion Planning of a Spherical Stepper Motor
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Topics: Path planning, Stepper motors, Stators, Rotors, Poles (Building), Design, Electromagnets, Engineering prototypes, Permanent magnets, Trajectories (Physics)
Journal Articles

The Kinematics of Containment for N -Dimensional Ellipsoids

Sipu Ruan, Jianzhong Ding, Qianli Ma, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041005.
Paper No: JMR-18-1404
https://doi.org/10.1115/1.4043458
Published Online: May 17, 2019
View Article titled, The Kinematics of Containment for N -Dimensional Ellipsoids
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Topics: Algebra, Containment, Kinematics
Journal Articles

Error Space Estimation of Three Degrees of Freedom Planar Parallel Mechanisms

Jianzhong Ding, Shengnan Lyu, Ting Da, Chunjie Wang, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031013.
Paper No: JMR-18-1294
https://doi.org/10.1115/1.4042633
Published Online: April 11, 2019
View Article titled, Error Space Estimation of Three Degrees of Freedom Planar Parallel Mechanisms
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Topics: Errors, Parallel mechanisms
Proceedings Papers

Recovering a Rotation Matrix From Three Direction Cosines

Mengdi Xu, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A079, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85825
https://doi.org/10.1115/DETC2018-85825
View Paper titled, Recovering a Rotation Matrix From Three Direction Cosines
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Topics: Rotation, Jacobian matrices, Path planning
Proceedings Papers

Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms

Jianzhong Ding, Shengnan Lu, Ting Da, Chunjie Wang, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A080, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85849
https://doi.org/10.1115/DETC2018-85849
View Paper titled, Conservative Error Space Estimation of 3-DoF Planar Parallel Mechanisms
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Topics: Errors, Parallel mechanisms, Manipulators, Algebra, Clearances (Engineering), Computation, Error analysis, Kinematics, Mechanical admittance, Modeling
Proceedings Papers

Lower Bounds of the Allowable Motions of One N -Dimensional Ellipsoid Contained in Another

Sipu Ruan, Gregory S. Chirikjian, Jianzhong Ding
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A081, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85851
https://doi.org/10.1115/DETC2018-85851
View Paper titled, Lower Bounds of the Allowable Motions of One N -Dimensional Ellipsoid Contained in Another
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Topics: Algebra, Collisions (Physics), Containment, Kinematics, Manufacturing, Shapes
Proceedings Papers

Rotations in a Non-Orthogonal Frame

Shengnan Lu, Xilun Ding, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A082, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85862
https://doi.org/10.1115/DETC2018-85862
View Paper titled, Rotations in a Non-Orthogonal Frame
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Topics: Conformational analysis, Crystals, Geometry, Polymers, Rotation
Journal Articles

Pose Changes From a Different Point of View

Gregory S. Chirikjian, Robert Mahony, Sipu Ruan, Jochen Trumpf
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021008.
Paper No: JMR-17-1315
https://doi.org/10.1115/1.4039121
Published Online: February 27, 2018
View Article titled, Pose Changes From a Different Point of View
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Topics: Aircraft, Displacement, Humanoid robots, Kinematics, Rotation
Journal Articles

Discussion of “Geometric Algorithms for Robot Dynamics: A Tutorial Review” (F. C. Park, B. Kim, C. Jang, and J. Hong, 2018, ASME Appl. Mech. Rev., 70 (1), p. 010803)

Gregory S. Chirikjian
Journal: Applied Mechanics Reviews
Publisher: ASME
Article Type: Discussions
Appl. Mech. Rev. January 2018, 70(1): 015502.
Paper No: AMR-18-1002
https://doi.org/10.1115/1.4039080
Published Online: February 14, 2018
View Article titled, Discussion of “Geometric Algorithms for Robot Dynamics: A Tutorial Review” (F. C. Park, B. Kim, C. Jang, and J. Hong, 2018, ASME Appl. Mech. Rev., 70 (1), p. 010803)
Open the PDF for Discussion of “Geometric Algorithms for Robot Dynamics: A Tutorial Review” (F. C. Park, B. Kim, C. Jang, and J. Hong, 2018, ASME Appl. Mech. Rev., 70 (1), p. 010803) in another window
Topics: Algorithms, Dynamics (Mechanics), Manipulator dynamics, Multibody dynamics, Robot dynamics, Kinematics, Manipulators, Robotics
Proceedings Papers

Pose Changes From a Different Point of View

Gregory S. Chirikjian, Robert Mahony, Sipu Ruan, Jochen Trumpf
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A073, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67725
https://doi.org/10.1115/DETC2017-67725
View Paper titled, Pose Changes From a Different Point of View
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Topics: Aircraft, Displacement, Humanoid robots, Rotation
Proceedings Papers

Kinematic Analysis of Hexapod Manipulation

Fan Yang, Xilun Ding, Gregory S. Chirikjian
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A089, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59619
https://doi.org/10.1115/DETC2016-59619
View Paper titled, Kinematic Analysis of Hexapod Manipulation
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Topics: Kinematic analysis, Chain, Robots, Center of mass, Engineering simulation, Jacobian matrices, Modeling, Motion control, Simulation, Stability