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Proceedings Papers

Lifting Task Stability Evaluation Based on Balanced State Basins of a Humanoid Robot

Hyunjong Song, William Z. Peng, Joo H. Kim
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A066, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-117042
https://doi.org/10.1115/DETC2023-117042
View Paper titled, Lifting Task Stability Evaluation Based on Balanced State Basins of a Humanoid Robot
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Topics: Humanoid robots, Stability
Proceedings Papers

Hybrid Feedforward/Kalman-Filter Controller for Reaction Force Suppression

William W. Clark, Joo H. Kim, Franz J. Shelley
Proc. ASME. IMECE96, Active Control of Vibration and Noise, 379-388, November 17–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1996-0943
https://doi.org/10.1115/IMECE1996-0943
View Paper titled, Hybrid Feedforward/Kalman-Filter Controller for Reaction Force Suppression
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Topics: Control equipment, Feedforward control, Kalman filters, Machinery, Algorithms, Bearings, Excitation, Failure, Flexible structures, Signals
Journal Articles

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

Hyunjong Song, William Z. Peng, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011005.
Paper No: JMR-22-1508
https://doi.org/10.1115/1.4056956
Published Online: March 8, 2023
View Article titled, Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction
Proceedings Papers

Partition-Aware Stability Control for Humanoid Robot Push Recovery

Hyunjong Song, William Z. Peng, Joo H. Kim
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A038, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89751
https://doi.org/10.1115/DETC2022-89751
View Paper titled, Partition-Aware Stability Control for Humanoid Robot Push Recovery
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Topics: Humanoid robots, Stability
Proceedings Papers

Reduced-Order Model With Foot Tipping Allowance for Legged Balancing

William Z. Peng, Hyunjong Song, Joo H. Kim
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A011, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71976
https://doi.org/10.1115/DETC2021-71976
View Paper titled, Reduced-Order Model With Foot Tipping Allowance for Legged Balancing
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Topics: Clearances (Engineering), Pendulums, Optimization, Trajectories (Physics), Engineering simulation, Flywheels, Nonlinear programming, Simulation, Stability
Journal Articles

Stability Region-Based Analysis of Walking and Push Recovery Control

William Z. Peng, Hyunjong Song, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031005.
Paper No: JMR-20-1460
https://doi.org/10.1115/1.4050095
Published Online: March 12, 2021
View Article titled, Stability Region-Based Analysis of Walking and Push Recovery Control
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Optimization, Robots, Stability, Trajectories (Physics)
Proceedings Papers

Stability Region-Based Analysis of Walking and Push Recovery Control

William Z. Peng, Hyunjong Song, Joo H. Kim
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A056, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22720
https://doi.org/10.1115/DETC2020-22720
View Paper titled, Stability Region-Based Analysis of Walking and Push Recovery Control
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Topics: Robots, Stability
Proceedings Papers

Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane

Carlotta Mummolo, William Z. Peng, Joo H. Kim
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A068, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98036
https://doi.org/10.1115/DETC2019-98036
View Paper titled, Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane
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Topics: Angular momentum, Center of mass, Control equipment, Dynamics (Mechanics), Engines, Kinematics, Motors, Robotics, Robots, Stability
Proceedings Papers

Sensitivity of Balancing in Legged Systems Under Torque Constraint Variations

Carlos Gonzalez, Carlotta Mummolo, Joo H. Kim
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A023, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86063
https://doi.org/10.1115/DETC2018-86063
View Paper titled, Sensitivity of Balancing in Legged Systems Under Torque Constraint Variations
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Topics: Torque, Stability, Actuators, Design, Motors, Muscle, Optimization, Pendulums, Robots
Journal Articles

Contact-Dependent Balance Stability of Biped Robots

Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021009.
Paper No: JMR-17-1319
https://doi.org/10.1115/1.4038978
Published Online: February 27, 2018
View Article titled, Contact-Dependent Balance Stability of Biped Robots
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Topics: Robots, Stability, Dynamics (Mechanics), Robotics
Proceedings Papers

Contact-Dependent Balance Stability of Walking Robots

Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, Joo H. Kim
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A035, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68272
https://doi.org/10.1115/DETC2017-68272
View Paper titled, Contact-Dependent Balance Stability of Walking Robots
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Topics: Robots, Stability, Center of mass, Robotics
Proceedings Papers

Estimation of Balance Stability States for Legged Robotic Systems

Carlotta Mummolo, Luigi Mangialardi, Joo H. Kim
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A044, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59676
https://doi.org/10.1115/DETC2016-59676
View Paper titled, Estimation of Balance Stability States for Legged Robotic Systems
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Topics: Robotics, Stability, Algorithms, Center of mass, Design, Equilibrium (Physics), Optimization, State estimation
Proceedings Papers

Degree-of-Freedom-Based Instantaneous Energetic Cost of Robotic Biped Gait With Benchmarking Implications

Dustyn Roberts, Joseph Quacinella, Joo H. Kim
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A025, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47712
https://doi.org/10.1115/DETC2015-47712
View Paper titled, Degree-of-Freedom-Based Instantaneous Energetic Cost of Robotic Biped Gait With Benchmarking Implications
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Topics: Robotics, Robots, Instrumentation, Actuators, Cycles, Degrees of freedom, Energetics, Servomotors, Stability
Proceedings Papers

Concurrent Contact Planning and Trajectory Optimization in One Step Walking Motion

Carlotta Mummolo, Luigi Mangialardi, Joo H. Kim
Proc. ASME. IDETC-CIE2015, Volume 8: 27th Conference on Mechanical Vibration and Noise, V008T13A018, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47745
https://doi.org/10.1115/DETC2015-47745
View Paper titled, Concurrent Contact Planning and Trajectory Optimization in One Step Walking Motion
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Topics: Optimization, Trajectories (Physics), Nonlinear programming, Path planning, Algorithms, Design, Multibody systems, Quadratic programming, Robotics, Simulation
Proceedings Papers

Computational Metabolic Energy Expenditure Model With Novel Heat Dissipation Formulation

William Peng, Joo H. Kim
Proc. ASME. IDETC-CIE2015, Volume 1A: 35th Computers and Information in Engineering Conference, V01AT02A054, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47728
https://doi.org/10.1115/DETC2015-47728
View Paper titled, Computational Metabolic Energy Expenditure Model With Novel Heat Dissipation Formulation
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Topics: Energy dissipation, Heat, Kinematics, Dynamics (Mechanics), Modeling, Multibody systems, Muscle, Regression analysis, Steady state, Thermodynamics
Proceedings Papers

Loaded Versus Unloaded Gait Balance Stability: A Measure of Dynamic Walking

Carlotta Mummolo, Sukyung Park, Luigi Mangialardi, Joo H. Kim
Proc. ASME. IDETC-CIE2015, Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A008, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47741
https://doi.org/10.1115/DETC2015-47741
View Paper titled, Loaded Versus Unloaded Gait Balance Stability: A Measure of Dynamic Walking
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Topics: Stability, Inertia (Mechanics), Railroad passenger cars, Stress, Cycles, Kinematics
Proceedings Papers

Fall Initiation Criteria for Three-Dimensional Multi-Segmental Model of Biped Robot

Chang B. Joo, Joo H. Kim
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A069, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34191
https://doi.org/10.1115/DETC2014-34191
View Paper titled, Fall Initiation Criteria for Three-Dimensional Multi-Segmental Model of Biped Robot
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Topics: Center of mass, Dynamic models, Inertia (Mechanics), Maintenance, Manifolds, Optimization, Pendulums, Pressure, Robots
Proceedings Papers

Joint-Space Dynamic Model of Metabolic Cost With Subject-Specific Energetic Parameters

Dustyn Roberts, Howard Hillstrom, Joo H. Kim
Proc. ASME. IDETC-CIE2014, Volume 1A: 34th Computers and Information in Engineering Conference, V01AT02A029, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34192
https://doi.org/10.1115/DETC2014-34192
View Paper titled, Joint-Space Dynamic Model of Metabolic Cost With Subject-Specific Energetic Parameters
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Topics: Dynamic models, Muscle, Dynamics (Mechanics), Experimental methods, Multibody systems, Optimization algorithms, Reliability, Thermodynamics
Proceedings Papers

Human Stair Ascent and Descent Simulations

Yujiang Xiang, Joo H. Kim, Hyun-Joon Chung, James Yang, Hyun-Jung Kwon
Proc. ASME. IDETC-CIE2014, Volume 1A: 34th Computers and Information in Engineering Conference, V01AT02A032, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34324
https://doi.org/10.1115/DETC2014-34324
View Paper titled, Human Stair Ascent and Descent Simulations
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Topics: Engineering simulation, Simulation, Stairs, Dynamics (Mechanics), Degrees of freedom, Design, Optimization, Prostheses, Weapons
Proceedings Papers

Contact Status Optimization of Multibody Dynamic Systems Using Dual Variable Transformation

Carlotta Mummolo, Luigi Mangialardi, Joo H. Kim
Proc. ASME. IDETC-CIE2014, Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A069, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34193
https://doi.org/10.1115/DETC2014-34193
View Paper titled, Contact Status Optimization of Multibody Dynamic Systems Using Dual Variable Transformation
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Topics: Dynamic systems, Optimization, Algorithms, Nonlinear programming, Trajectories (Physics), Dynamic models, Manipulators, Multibody systems, Path planning, Quadratic programming