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Volume 15, Issue 3

June 2023

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ISSN 1942-4302

EISSN 1942-4310

In this Issue

Guest Editorial
Research Papers
Design Innovation Papers

Joint Special Issue: Design and Control of Responsive Robots

Guest Editorial

Joint Special Issue: Design and Control of Responsive Robots

Andreas Mueller, Jozsef Kovecses, Charles Kim, Chandramouli Padmanabhan, Gabor Orosz

J. Mechanisms Robotics. June 2023, 15(3): 030301. doi: https://doi.org/10.1115/1.4062417

Extract

View articletitled, Joint Special Issue: Design and Control of Responsive Robots

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Topics: Design , Robots , Robotics

Research Papers

Dyno-Kinematic Leg Design for High Energy Robotic Locomotion

Max Austin, Jason Brown, John Nicholson, Jonathan Clark

J. Mechanisms Robotics. June 2023, 15(3): 031001. doi: https://doi.org/10.1115/1.4055998

Abstract

View articletitled, Dyno-Kinematic Leg Design for High Energy Robotic Locomotion

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Topics: Design , Dynamics (Mechanics) , Kinematics , Robots , Motors , Simulation , Linkages , Torque

Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems

Jason Bettega, Dario Richiedei, Iacopo Tamellin, Alberto Trevisani

J. Mechanisms Robotics. June 2023, 15(3): 031002. doi: https://doi.org/10.1115/1.4056437

Abstract

View articletitled, Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems

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Topics: Dynamics (Mechanics) , Feedforward control , Errors

Robust Attitude Controller Design for an Uncommon Quadrotor With Big and Small Tilt Rotors

Mehmet Baskın, Kemal Leblebicioğlu

J. Mechanisms Robotics. June 2023, 15(3): 031003. doi: https://doi.org/10.1115/1.4056826

Abstract

View articletitled, Robust Attitude Controller Design for an Uncommon Quadrotor With Big and Small Tilt Rotors

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Topics: Control equipment , Design , Robust control , Rotors , Uncertainty , Flight , Yaw

Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot

Guillaume Jeanneau, Vincent Bégoc, Sébastien Briot

J. Mechanisms Robotics. June 2023, 15(3): 031004. doi: https://doi.org/10.1115/1.4056765

Abstract

View articletitled, Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot

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Topics: Robots , Safety

Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

Xiang Wang, Yue Ding, Lingyun Zeng, Chuanxiang Zhu, Baibo Wu, Kai Xu

J. Mechanisms Robotics. June 2023, 15(3): 031005. doi: https://doi.org/10.1115/1.4056954

Abstract

View articletitled, Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

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Topics: Errors , Modeling , Robots , Stress , Optimization , Design

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

Cole Woods, Vishesh Vikas

J. Mechanisms Robotics. June 2023, 15(3): 031006. doi: https://doi.org/10.1115/1.4056959

Abstract

View articletitled, Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

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Topics: Design , Manipulators , Manufacturing , Modeling , String , Tensegrity , Screws , Tension , Tendons

Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds

Azadeh Shariati, Helge A. Wurdemann

J. Mechanisms Robotics. June 2023, 15(3): 031007. doi: https://doi.org/10.1115/1.4056970

Abstract

View articletitled, Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds

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Topics: Actuators , Design , Vocal cords , Dynamics (Mechanics)

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

Sushant Maurya, Ashish Dutta

J. Mechanisms Robotics. June 2023, 15(3): 031008. doi: https://doi.org/10.1115/1.4062212

Abstract

View articletitled, Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

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Topics: Control equipment , Degrees of freedom , Design , Dynamics (Mechanics) , Feedforward control , Manipulators , Muscle , Pressure , Robots , Valves

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

Justin Quan, Dennis Hong

J. Mechanisms Robotics. June 2023, 15(3): 031009. doi: https://doi.org/10.1115/1.4062150

Abstract

View articletitled, 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

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

Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian

J. Mechanisms Robotics. June 2023, 15(3): 031010. doi: https://doi.org/10.1115/1.4062273

Abstract

View articletitled, 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)

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa

J. Mechanisms Robotics. June 2023, 15(3): 031011. doi: https://doi.org/10.1115/1.4062388

Abstract

View articletitled, 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

Design Innovation Papers

Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo

Hadi Yadavari, Vahid Tavakol Aghaei, Serhat İkizoğlu

J. Mechanisms Robotics. June 2023, 15(3): 035001. doi: https://doi.org/10.1115/1.4056971

Abstract

View articletitled, Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo

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Topics: Algorithms , Control equipment , Kinematics , Reinforcement learning , Robots , Simulation

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger

J. Mechanisms Robotics. June 2023, 15(3): 035002. doi: https://doi.org/10.1115/1.4062302

Abstract

View articletitled, Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

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Topics: Cables , Manipulators , Stiffness , Equilibrium (Physics) , Springs

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Joint Special Issue: Design and Control of Responsive Robots

Guest Editorial

Joint Special Issue: Design and Control of Responsive Robots

Research Papers

Dyno-Kinematic Leg Design for High Energy Robotic Locomotion

Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems

Robust Attitude Controller Design for an Uncommon Quadrotor With Big and Small Tilt Rotors

Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot

Kinetostatic Modeling of Continuum Delta Robot With Variable Curvature Continuum Joints

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

Analysis of a Soft Bio-Inspired Active Actuation Model for the Design of Artificial Vocal Folds

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

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

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

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Design Innovation Papers

Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

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