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Journal Articles

Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints

Accepted Manuscript
Jiahui Luo, Longqing Ge, Xiaoming Xu, Xiaodong Liu, Ziwei Zhuang, Lulu Han, ZhiGang Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1150
https://doi.org/10.1115/1.4066745
Published Online: September 30, 2024
View Article titled, Stability Conditions and Stiffness Variability of General Tensegrity Systems with Kinematic Joints
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Topics: Kinematics, Stability, Stiffness, Tensegrity, Cables, Computer programming, Modeling, Stress, Tension
Journal Articles

Push Recovery of a Biped in Different Stance Scenarios

Accepted Manuscript
Alinjar Dan, Subir Kumar Saha, Rama Krishna K, Amit Sawant, Gurmann Singh Bhullar, Tarannum Perween
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1394
https://doi.org/10.1115/1.4066443
Published Online: September 5, 2024
View Article titled, Push Recovery of a Biped in Different Stance Scenarios
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Topics: Actuators, Center of mass, Control equipment, Dynamics (Mechanics), Geometry, Impulse (Physics), Jacobian matrices, Kinematics, Momentum, Multibody dynamics
Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
View Article titled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Felix Trautwein, David Dietrich, Andreas Pott, Alexander Verl
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010908.
Paper No: JMR-23-1708
https://doi.org/10.1115/1.4065642
Published Online: June 17, 2024
View Article titled, Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, Topology, Kinematics, Modeling, Algorithms
Journal Articles

Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint

Isaac John, Santhakumar Mohan, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091003.
Paper No: JMR-23-1678
https://doi.org/10.1115/1.4064254
Published Online: February 1, 2024
View Article titled, Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint
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Topics: Cables, Stiffness, Stability, Equilibrium (Physics), Screws, Robots, Mechanical admittance, Kinematics, Manipulators, Potential energy
Journal Articles

Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space

Alinjar Dan, K. Rama Krishna, S. K. Saha
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081009.
Paper No: JMR-23-1302
https://doi.org/10.1115/1.4064065
Published Online: December 11, 2023
View Article titled, Static Stability of Planar Contacting Systems: Analytical Treatment in Euclidean Space
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Topics: Equilibrium (Physics), Kinematics, Stability, Static stability
Journal Articles

Locust-Inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability

Xiaojuan Mo, Wenjie Ge, Yifei Ren, Donglai Zhao, Dunwen Wei, Donato Romano
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061013.
Paper No: JMR-22-1560
https://doi.org/10.1115/1.4063406
Published Online: October 17, 2023
View Article titled, Locust-Inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability
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Topics: Design, Kinematics, Modeling, Optimization, Robots, Springs, Stability, Stiffness, Dynamic modeling, Dynamic stability
Includes: Supplementary data
Journal Articles

Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

Weixing Chen, Yu Wen, Xiaochuan Tong, Chaoxiong Lin, Jiang Li, Shuyou Wang, Wei Xie, Lifeng Mao, Xianchao Zhao, Weidong Zhang, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041015.
Paper No: JMR-23-1023
https://doi.org/10.1115/1.4062177
Published Online: May 2, 2023
View Article titled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
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Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models
Journal Articles

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
https://doi.org/10.1115/1.4062388
Published Online: May 2, 2023
View Article titled, 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
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
Journal Articles

WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability

Luca Bruzzone, Shahab Edin Nodehi, Dario De Domenico, Pietro Fanghella
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021007.
Paper No: JMR-22-1232
https://doi.org/10.1115/1.4056770
Published Online: March 3, 2023
View Article titled, WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability
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Topics: Robots, Wheels, Stability, Stairs
Journal Articles

A Curved Compliant Differential Mechanism With Neutral Stability

Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011003.
Paper No: JMR-22-1430
https://doi.org/10.1115/1.4056867
Published Online: March 3, 2023
View Article titled, A Curved Compliant Differential Mechanism With Neutral Stability
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Topics: Potential energy, Springs, Stability, Stiffness, Symmetry (Physics), Deformation, Simulation
Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
View Article titled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems

Fujie Yu, Qilong Zhu, Yuan Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064501.
Paper No: JMR-22-1280
https://doi.org/10.1115/1.4056378
Published Online: January 18, 2023
View Article titled, Adaptive Fractional-Order Fast-Terminal-Type Sliding Mode Control for Underwater Vehicle-Manipulator Systems
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Topics: Control equipment, Errors, Manipulators, Sliding mode control, Vehicles, Simulation, Uncertainty, Stability, Trajectories (Physics), Manifolds
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
View Article titled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback
Journal Articles

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Gustavo A. Medrano-Cerda
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Discussions
J. Mechanisms Robotics. October 2022, 14(5): 055501.
Paper No: JMR-20-1032
https://doi.org/10.1115/1.4049005
Published Online: August 9, 2022
View Article titled, Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms
Journal Articles

Geometry and Kinematics of Cylindrical Waterbomb Tessellation

Rinki Imada, Tomohiro Tachi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041009.
Paper No: JMR-21-1548
https://doi.org/10.1115/1.4054478
Published Online: May 26, 2022
View Article titled, Geometry and Kinematics of Cylindrical Waterbomb Tessellation
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Topics: Bifurcation, Cylinders, Kinematics, Stability, Waves, Geometry, Dynamic systems, Visualization
Journal Articles

Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees

V. N. Murthy Arelekatti, Nina T. Petelina, W. Brett Johnson, Matthew J. Major, Amos G. Winter V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031011.
Paper No: JMR-21-1003
https://doi.org/10.1115/1.4052804
Published Online: November 18, 2021
View Article titled, Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees
Open the PDF for Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees in another window
Topics: Artificial limbs, Dampers, Damping, Design, Knee, Stability
Journal Articles

Application of Floquet Theory to Human Gait Kinematics and Dynamics

Sandesh G. Bhat, Susheelkumar C. Subramanian, Thomas S. Sugar, Sangram Redkar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061003.
Paper No: JMR-20-1471
https://doi.org/10.1115/1.4050199
Published Online: May 31, 2021
View Article titled, Application of Floquet Theory to Human Gait Kinematics and Dynamics
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Topics: Dynamic systems, Dynamics (Mechanics), Kinematics, Time series, Manifolds, Knee, Stability
Journal Articles

Untethered Microrobot Motion Mechanism With Increased Longitudinal Force

Ali Anil Demircali, Rahmetullah Varol, Kadir Erkan, Huseyin Uvet
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061005.
Paper No: JMR-20-1598
https://doi.org/10.1115/1.4050468
Published Online: May 31, 2021
View Article titled, Untethered Microrobot Motion Mechanism With Increased Longitudinal Force
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Topics: Displacement, Drag (Fluid dynamics), Flow (Dynamics), Levitation, Magnetic fields, Magnets, Permanent magnets, Simulation results, Graphite, Stability