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Journal Articles

Special Issue on Data-Driven Modeling and Control of Dynamical Systems

Efstathios Bakolas, Suman Chakravorty, Santosh Devasia, Vaibhav Srivastava
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Guest Editorial
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 060301.
Paper No: DS-24-1209
https://doi.org/10.1115/1.4066453
Published Online: September 20, 2024
View Article titled, Special Issue on Data-Driven Modeling and Control of Dynamical Systems
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Topics: Control modeling, Dynamic systems, Robotics
Journal Articles

An Approach for Identifying Dynamic Parameters in Robotic Systems With Inconsistent Joint Measurements

Weiliang Zhu, Guoteng Zhang, Xuewen Rong, Yibin Li
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2025, 147(1): 011002.
Paper No: DS-23-1209
https://doi.org/10.1115/1.4065861
Published Online: July 25, 2024
View Article titled, An Approach for Identifying Dynamic Parameters in Robotic Systems With Inconsistent Joint Measurements
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Topics: Algorithms, Errors, Excitation, Optimization, Particle swarm optimization, Robotics, Robots, Torque, Trajectories (Physics), Weight (Mass)
Journal Articles

Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent

Heejin Yu, Ahmed Ramadan, Jacek Cholewicki, John M. Popovich, Jr., N. Peter Reeves, Joshua (Sung) H. You, Jongeun Choi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061103.
Paper No: DS-23-1255
https://doi.org/10.1115/1.4065593
Published Online: July 16, 2024
View Article titled, Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent
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Topics: Control equipment, Errors, Feedback, Goodness-of-fit tests, Human-robot interaction, Motor controls, Optimal control, Optimization, Performance, Robotics
Includes: Supplementary data
Journal Articles

Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators

Barat S., Sushrut Surve, Rwik Rana, Madhu Vadali, Harish J. Palanthandalam-Madapusi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2023, 145(12): 121003.
Paper No: DS-23-1062
https://doi.org/10.1115/1.4063488
Published Online: October 9, 2023
View Article titled, Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators
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Topics: Actuators, Engines, Flexible manipulators, Frequency response, Manipulators, Motors, Springs, Stability, Stiffness, Torque
Journal Articles

Rotorcraft Robotic Landing Gear With Locking Mechanisms

Dooroo Kim, Cason Butler, Mark Costello
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2023, 145(6): 061002.
Paper No: DS-22-1274
https://doi.org/10.1115/1.4062317
Published Online: April 26, 2023
View Article titled, Rotorcraft Robotic Landing Gear With Locking Mechanisms
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Topics: Gears, Robotics, Failure, Locks (Waterways)
Journal Articles

Positional Accuracy Improvement of an Industrial Robot Using Feedforward Compensation and Feedback Control

Bo Li, Wei Zhang, Yufei Li, Wei Tian, Changrui Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2022, 144(7): 071003.
Paper No: DS-21-1246
https://doi.org/10.1115/1.4054312
Published Online: April 22, 2022
View Article titled, Positional Accuracy Improvement of an Industrial Robot Using Feedforward Compensation and Feedback Control
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Topics: Errors, Robots, Feedback, Polynomials, Feedforward control, Robotics
Journal Articles

Bio-Inspired Design, Modeling, and Control of Robotic Fish Propelled by a Double-Slider-Crank Mechanism Driven Tail

Wenyu Zuo, Frank Fish, Zheng Chen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2021, 143(12): 121005.
Paper No: DS-21-1149
https://doi.org/10.1115/1.4051893
Published Online: September 13, 2021
View Article titled, Bio-Inspired Design, Modeling, and Control of Robotic Fish Propelled by a Double-Slider-Crank Mechanism Driven Tail
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Topics: Oscillations, Robotics, Design, Dynamic models, Simulation, Servomotors
Journal Articles

A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter

Ran Hao, M. Cenk Çavuşoğlu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 094502.
Paper No: DS-20-1466
https://doi.org/10.1115/1.4050692
Published Online: May 10, 2021
View Article titled, A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter
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Topics: Blood flow, Catheters, Robotics, Safety, Stability, Biological tissues
Journal Articles

Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties

Yan Gu, Chengzhi Yuan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2021, 143(8): 081007.
Paper No: DS-20-1357
https://doi.org/10.1115/1.4050259
Published Online: April 7, 2021
View Article titled, Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties
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Topics: Control equipment, Parameter estimation, Stability, Uncertainty, Design, Errors, Trajectories (Physics), Tracking control, Robust control, Feedback
Journal Articles

Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion

Ran Hao, E. Erdem Tuna, M. Cenk Çavuşoğlu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2021, 143(7): 071010.
Paper No: DS-20-1403
https://doi.org/10.1115/1.4049837
Published Online: February 23, 2021
View Article titled, Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion
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Topics: Biological tissues, Catheters, Force control, Robotics, Stability, Safety, Optimization algorithms, Simulation, Magnetic resonance imaging
Journal Articles

Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails

Randall T. Fawcett, Abhishek Pandala, Jeeseop Kim, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2021, 143(7): 071004.
Paper No: DS-20-1377
https://doi.org/10.1115/1.4049555
Published Online: February 8, 2021
View Article titled, Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails
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Topics: Control equipment, Dynamics (Mechanics), Pendulums, Quadratic programming, Robots, Simulation, Robustness, Robotics, Yaw, Design
Journal Articles

Nonlinear Dynamic Modeling of a Robotic Endoscopy Platform on Synthetic Tissue Substrates

Gregory A. Formosa, J. Micah Prendergast, J. Sean Humbert, Mark E. Rentschler
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2021, 143(1): 011005.
Paper No: DS-19-1339
https://doi.org/10.1115/1.4048190
Published Online: September 22, 2020
View Article titled, Nonlinear Dynamic Modeling of a Robotic Endoscopy Platform on Synthetic Tissue Substrates
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Topics: Biological tissues, Friction, Modeling, Motors, Robotics, Testing, Wheels, Design, Errors, Engines
Journal Articles

Strawberry Plant Alive Status Detection and Relative Pixel Based Plant Localization

Xiangling Kong, Yunjun Xu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. May 2020, 142(5): 054501.
Paper No: DS-19-1028
https://doi.org/10.1115/1.4046102
Published Online: February 14, 2020
View Article titled, Strawberry Plant Alive Status Detection and Relative Pixel Based Plant Localization
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Topics: Errors, Kalman filters, Maintenance, Precision agriculture, Robotics, Robots, Kinematics, Noise (Sound)
Journal Articles

Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic Validation

James A. Tigue, Raymond J. King, Stephen A. Mascaro
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2020, 142(3): 031007.
Paper No: DS-19-1285
https://doi.org/10.1115/1.4045494
Published Online: December 23, 2019
View Article titled, Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic Validation
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Topics: Tendons, Modeling, Kinematics, Simulation, Robotics
Journal Articles

Robotic Fish Propelled by a Servo Motor and Ionic Polymer-Metal Composite Hybrid Tail

Zheng Chen, Piqi Hou, Zhihang Ye
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2019, 141(7): 071001.
Paper No: DS-18-1070
https://doi.org/10.1115/1.4043101
Published Online: March 25, 2019
View Article titled, Robotic Fish Propelled by a Servo Motor and Ionic Polymer-Metal Composite Hybrid Tail
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Topics: Robotics, Dynamics (Mechanics), Design, Servomotors, Fluid-dynamic forces, Polymers, Metals, Composite materials
Journal Articles

Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot

William S. Rone, Wael Saab, Anil Kumar, Pinhas Ben-Tzvi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2019, 141(8): 081002.
Paper No: DS-17-1559
https://doi.org/10.1115/1.4042948
Published Online: March 25, 2019
View Article titled, Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot
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Topics: Control equipment, Design, Robotics, Robots, Simulation, Trajectories (Physics), Yaw, Motors, Engineering prototypes, Simulation results
Journal Articles

Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object

Maryam Farahmandrad, Soheil Ganjefar, Heidar Ali Talebi, Mahdi Bayati
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2019, 141(6): 061010.
Paper No: DS-17-1616
https://doi.org/10.1115/1.4042742
Published Online: February 27, 2019
View Article titled, Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object
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Topics: Control equipment, Robotics, Robots, Shapes, Surface mount components, Uncertainty, Design, Simulation results, Stability, Dynamics (Mechanics)
Journal Articles

Empirical Potential Functions for Driving Bioinspired Joint Design

Matthew Bender, Aishwarya George, Nathan Powell, Andrew Kurdila, Rolf Müller
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2019, 141(3): 031004.
Paper No: DS-18-1075
https://doi.org/10.1115/1.4041446
Published Online: October 31, 2018
View Article titled, Empirical Potential Functions for Driving Bioinspired Joint Design
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Topics: Biomimetics, Design, Kinematics, Optimization, Potential energy, Robotics, Stress, Displacement, Deflection, Geometry
Journal Articles

A Decentralized, Communication-Free Force Distribution Method With Application to Collective Object Manipulation

Shadi Tasdighi Kalat, Siamak G. Faal, Cagdas D. Onal
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2018, 140(9): 091012.
Paper No: DS-16-1619
https://doi.org/10.1115/1.4039669
Published Online: April 30, 2018
View Article titled, A Decentralized, Communication-Free Force Distribution Method With Application to Collective Object Manipulation
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Topics: Algorithms, Control equipment, Errors, Robots, Robotics, Center of mass, Teams, Robustness
Journal Articles

Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires

André F. C. Silva, Simplício A. da Silva, Alexsandro J. V. dos Santos, Andreas Ries, Cícero R. Souto, Carlos J. de Araújo
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. June 2018, 140(6): 064502.
Paper No: DS-17-1255
https://doi.org/10.1115/1.4038652
Published Online: December 22, 2017
View Article titled, Fuzzy Control of a Robotic Finger Actuated by Shape Memory Alloy Wires
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Topics: Actuators, Errors, Fuzzy control, Robotics, Shape memory alloys, Wire, Control equipment, Engineering prototypes