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Journal Articles

Design and Motion Planning of a Cable Robot Utilizing Cable Slackness

Accepted Manuscript
Nan Zhang, Long Teng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1763
https://doi.org/10.1115/1.4066551
Published Online: September 13, 2024
View Article titled, Design and Motion Planning of a Cable Robot Utilizing Cable Slackness
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Topics: Cables, Design, Path planning, Robots
Journal Articles

FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning

Suraj Borate, Rwik Rana, Praveen Venkatesh, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104502.
Paper No: JMR-23-1444
https://doi.org/10.1115/1.4066129
Published Online: September 2, 2024
View Article titled, FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning
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Topics: Algorithms, Collisions (Physics), Multi-robot systems, Path planning, Robots
Journal Articles

Towing an Object With a Rover

Matteo Caruso, Nicholas Sesto Gorella, Paolo Gallina, Stefano Seriani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
https://doi.org/10.1115/1.4065697
Published Online: July 19, 2024
View Article titled, Towing an Object With a Rover
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
Journal Articles

Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal

Zhefeng Huang, Hussain Alkhars, Anthony Gunderman, Dimitri Sigounas, Kevin Cleary, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081005.
Paper No: JMR-23-1356
https://doi.org/10.1115/1.4063979
Published Online: December 11, 2023
View Article titled, Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal
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Topics: Design, Risk, Robots, Fibers, Parametrization, Shapes, Brain, Damage, Geometry, Path planning
Journal Articles

Exploiting the Kinematic Redundancy of a (6 + 3)-Degree-of-Freedom Parallel Manipulator to Produce Unlimited Rotation of the Platform

Arda Yiğit, David Breton, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071004.
Paper No: JMR-22-1624
https://doi.org/10.1115/1.4063407
Published Online: October 16, 2023
View Article titled, Exploiting the Kinematic Redundancy of a (6 + 3)-Degree-of-Freedom Parallel Manipulator to Produce Unlimited Rotation of the Platform
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Topics: Design, Kinematics, Redundancy (Engineering), Robots, Rotation, Path planning, Manipulators
Journal Articles

A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective

Shantanu Thakar, Srivatsan Srinivasan, Sarah Al-Hussaini, Prahar M. Bhatt, Pradeep Rajendran, Yeo Jung Yoon, Neel Dhanaraj, Rishi K. Malhan, Matthias Schmid, Venkat N. Krovi, Satyandra K. Gupta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Review Articles
J. Mechanisms Robotics. April 2023, 15(2): 020801.
Paper No: JMR-21-1444
https://doi.org/10.1115/1.4054611
Published Online: July 19, 2022
View Article titled, A Survey of Wheeled Mobile Manipulation: A Decision-Making Perspective
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Topics: Manipulators, Robots, Path planning, Decision making
Journal Articles

Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform

Bahman Nouri Rahmat Abadi, Juan A. Carretero
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021004.
Paper No: JMR-21-1558
https://doi.org/10.1115/1.4054614
Published Online: June 21, 2022
View Article titled, Modeling and Real-Time Motion Planning of a Class of Kinematically Redundant Parallel Mechanisms With Reconfigurable Platform
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Topics: Actuators, Grasping, Kinematics, Parallel mechanisms, Path planning, Redundancy (Engineering), Trajectories (Physics), Kinematic analysis, Artificial neural networks
Journal Articles

Balloon Locomotion for Extreme Terrain

Hari D. Nayar, Michael T. Pauken, Morgan L. Cable, Michael A. Hans, Manit Ginoya
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021001.
Paper No: JMR-20-1332
https://doi.org/10.1115/1.4049006
Published Online: January 18, 2021
View Article titled, Balloon Locomotion for Extreme Terrain
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Topics: Aerodynamics, Buoyancy, Cables, Fluid-dynamic forces, Instrumentation, Mechanical admittance, Simulation, Stability, Vehicles, Visualization
Journal Articles

Micro-Assembly Sequence and Path Planning Using Subassemblies

Vinoth Venkatesan, Joseph Seymour, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061015.
Paper No: JMR-18-1180
https://doi.org/10.1115/1.4041333
Published Online: October 5, 2018
View Article titled, Micro-Assembly Sequence and Path Planning Using Subassemblies
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Topics: Manufacturing, Path planning, Algorithms
Journal Articles

Task-Constrained Optimal Motion Planning of Redundant Robots Via Sequential Expanded Lagrangian Homotopy

Audelia G. Dharmawan, Shaohui Foong, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031010.
Paper No: JMR-17-1178
https://doi.org/10.1115/1.4039395
Published Online: April 5, 2018
View Article titled, Task-Constrained Optimal Motion Planning of Redundant Robots Via Sequential Expanded Lagrangian Homotopy
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Topics: Path planning, Robots, Kinematics
Journal Articles

Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots

Midhun S. Menon, V. C. Ravi, Ashitava Ghosal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041010.
Paper No: JMR-16-1208
https://doi.org/10.1115/1.4036571
Published Online: May 15, 2017
View Article titled, Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots
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Topics: Algorithms, Robots, Path planning, Trajectories (Physics)
Includes: Supplementary data
Journal Articles

Trajectory Planning for Micromanipulation With a Nonredundant Digital Microrobot: Shortest Path Algorithm Optimization With a Hypercube Graph Representation

Vincent Chalvet, Yassine Haddab, Philippe Lutz
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021013.
Paper No: JMR-15-1053
https://doi.org/10.1115/1.4031807
Published Online: November 24, 2015
View Article titled, Trajectory Planning for Micromanipulation With a Nonredundant Digital Microrobot: Shortest Path Algorithm Optimization With a Hypercube Graph Representation
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Topics: Algorithms, Robots, Trajectories (Physics), Micromanipulation, Optimization, Path planning
Journal Articles

Control and Motion Planning of a Nonholonomic Parallel Orienting Platform

Janusz Jakubiak, Władyslaw Magiera, Krzysztof Tchoń
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041019.
Paper No: JMR-14-1210
https://doi.org/10.1115/1.4029891
Published Online: November 1, 2015
View Article titled, Control and Motion Planning of a Nonholonomic Parallel Orienting Platform
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Topics: Algorithms, Path planning, Errors
Journal Articles

Overall Motion Planning for Kinematically Redundant Parallel Manipulators

Juan A. Carretero, Iman Ebrahimi, Roger Boudreau
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2012, 4(2): 024502.
https://doi.org/10.1115/1.4006523
Published Online: April 24, 2012
View Article titled, Overall Motion Planning for Kinematically Redundant Parallel Manipulators
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Topics: Actuators, Manipulators, Optimization, Path planning, Redundant manipulators, Trajectories (Physics), End effectors, Cyber-physical systems, Kinematics
Journal Articles

Position Analysis and Path Planning of the S-(nS) P U-S P U and S-(nS)PU-2S P U Underactuated Wrists

Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2012, 4(2): 021006.
https://doi.org/10.1115/1.4006191
Published Online: April 12, 2012
View Article titled, Position Analysis and Path Planning of the S-(nS) P U-S P U and S-(nS)PU-2S P U Underactuated Wrists
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Topics: Algorithms, Path planning, Rotation, Topology, Rollers
Journal Articles

On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems

Nima Najmaei, Mehrdad R. Kermani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041008.
https://doi.org/10.1115/1.4002345
Published Online: September 30, 2010
View Article titled, On Superquadric Human Modeling and Risk Assessment for Safe Planning of Human-Safe Robotic Systems
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Topics: Manipulators, Modeling, Path planning, Risk assessment, Robots, Safety, Shapes, Collisions (Physics), Human-robot interaction, Robotics
Journal Articles

Instant Center Based Kinematic Formulation for Planar Wheeled Platforms

Amit Kulkarni, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031015.
https://doi.org/10.1115/1.4001772
Published Online: July 27, 2010
View Article titled, Instant Center Based Kinematic Formulation for Planar Wheeled Platforms
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Topics: Algebra, Kinematics, Wheels, Manipulators, Path planning
Journal Articles

Computing the Configuration Space for Tracing Paths Between Assembly Modes

Mónica Urízar, Víctor Petuya, Oscar Altuzarra, Erik Macho, Alfonso Hernández
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031002.
https://doi.org/10.1115/1.4001734
Published Online: June 21, 2010
View Article titled, Computing the Configuration Space for Tracing Paths Between Assembly Modes
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Topics: Manipulators, Manufacturing, Path planning, Joining