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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
Proceedings Papers

Behavior Identification and Prediction for a Probabilistic Risk Framework

Jasprit S. Gill, Pierluigi Pisu, Venkat N. Krovi, Matthias J. Schmid
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T25A004, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9097
https://doi.org/10.1115/DSCC2019-9097
View Paper titled, Behavior Identification and Prediction for a Probabilistic Risk Framework
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Topics: Risk, Traffic, Vehicles, Navigation, Safety, Simulation results, System architecture, Trajectories (Physics)
Proceedings Papers

Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle

Srivatsan Srinivasan, Matthias J. Schmid, Venkat N. Krovi
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T18A009, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9153
https://doi.org/10.1115/DSCC2019-9153
View Paper titled, Analysis of Reference Shaping Control for Improved Yaw Stability in a Steer-by-Wire Vehicle
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Topics: Stability, Vehicles, Wire, Yaw
Proceedings Papers

An End-to-End Fully Automatic Bay Parking Approach for Autonomous Vehicles

Rui Li, Weitian Wang, Yi Chen, Srivatsan Srinivasan, Venkat N. Krovi
Proc. ASME. DSCC2018, Volume 2: Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems, V002T15A004, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9126
https://doi.org/10.1115/DSCC2018-9126
View Paper titled, An End-to-End Fully Automatic Bay Parking Approach for Autonomous Vehicles
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Topics: Vehicles, Artificial neural networks, Computers, Control equipment
Proceedings Papers

Empowering Graduate Engineering Students With Proficiency in Autonomy

Adhiti T. Raman, Venkat N. Krovi, Matthias J. A. Schmid
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A080, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86316
https://doi.org/10.1115/DETC2018-86316
View Paper titled, Empowering Graduate Engineering Students With Proficiency in Autonomy
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Topics: Graduate students, Robotics, Students, Teams, Automobiles, Complex systems, Engineers, Hardware, Systems engineering, Testing performance
Journal Articles

Special Issue: Selected Papers From IDETC 2017

Andreas Mueller, Andrew Murray, Venkat N. Krovi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. April 2018, 10(2): 020201.
Paper No: JMR-18-1028
https://doi.org/10.1115/1.4039203
Published Online: March 2, 2018
View Article titled, Special Issue: Selected Papers From IDETC 2017
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Topics: Compliant mechanisms, Design, Kinematics, Robotics
Journal Articles

Special Issue: Selected Papers From IDETC 2016

Venkat N. Krovi, James Schmiedeler, Su Haijun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. April 2017, 9(2): 020301.
Paper No: JMR-17-1044
https://doi.org/10.1115/1.4036028
Published Online: March 9, 2017
View Article titled, Special Issue: Selected Papers From IDETC 2016
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Topics: Biomimetics, Cables, Compliant mechanisms, Design, Microscale devices, Robotics, Robots
Journal Articles

Special Issue: Selected Papers From IDETC 2015

Venkat N. Krovi, Andrew P. Murray, James Schmiedeler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. October 2016, 8(5): 050301.
Paper No: JMR-15-1363
https://doi.org/10.1115/1.4032510
Published Online: May 4, 2016
View Article titled, Special Issue: Selected Papers From IDETC 2015
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Topics: Actuators, Artificial limbs, Biomedicine, Cables, Compliant mechanisms, Design, Kinematics, Microelectromechanical systems, Prostheses, Robotics
Journal Articles

Smart Knee Brace Design With Parallel Coupled Compliant Plate Mechanism and Pennate Elastic Band Spring

Seungkook Jun, Xiaobo Zhou, Daniel K. Ramsey, Venkat N. Krovi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041024.
Paper No: JMR-14-1184
https://doi.org/10.1115/1.4030653
Published Online: November 1, 2015
View Article titled, Smart Knee Brace Design With Parallel Coupled Compliant Plate Mechanism and Pennate Elastic Band Spring
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Topics: Bracing (Construction), Design, Exoskeleton devices, Knee, Springs, Stress, Stiffness, Engineering prototypes
Proceedings Papers

Dynamics Based Time-Optimal Path Navigation for a Skid-Steer Robot

Suren Kumar, Venkat N. Krovi
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A076, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34501
https://doi.org/10.1115/DETC2014-34501
View Paper titled, Dynamics Based Time-Optimal Path Navigation for a Skid-Steer Robot
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Topics: Dynamics (Mechanics), Navigation, Robots, Trajectories (Physics), Kinematics
Proceedings Papers

Quantitative Methodology for Knee Exoskeleton Design

Seungkook Jun, Xiaobo Zhou, Daniel K. Ramsey, Venkat N. Krovi
Proc. ASME. IDETC-CIE2014, Volume 5A: 38th Mechanisms and Robotics Conference, V05AT08A002, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34299
https://doi.org/10.1115/DETC2014-34299
View Paper titled, Quantitative Methodology for Knee Exoskeleton Design
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Topics: Design, Exoskeleton devices, Knee, Bracing (Construction), Fittings, Additive manufacturing, Bone, Case studies, Modeling, Musculoskeletal system
Proceedings Papers

Compliant Knee Exoskeleton Design: Parallel Coupled Compliant Plate (PCCP) Mechanism and Pennate Elastic Band (PEB) Spring

Seungkook Jun, Xiaobo Zhou, Daniel K. Ramsey, Venkat N. Krovi
Proc. ASME. IDETC-CIE2014, Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices, V003T12A006, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35697
https://doi.org/10.1115/DETC2014-35697
View Paper titled, Compliant Knee Exoskeleton Design: Parallel Coupled Compliant Plate (PCCP) Mechanism and Pennate Elastic Band (PEB) Spring
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Topics: Design, Exoskeleton devices, Knee, Springs, Bracing (Construction), Compliant mechanisms, Weight (Mass)
Proceedings Papers

Enhanced Full-State Estimation and Dynamic-Model-Based Prediction for Road-Vehicles

Aliakbar Alamdari, Javad Sovizi, Venkat N. Krovi
Proc. ASME. IDETC-CIE2014, Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices, V003T01A018, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34453
https://doi.org/10.1115/DETC2014-34453
View Paper titled, Enhanced Full-State Estimation and Dynamic-Model-Based Prediction for Road-Vehicles
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Topics: Antilock braking systems, Automobiles, Computer simulation, Electronic stability control, Kalman filters, Motor vehicles, Navigation, Nonlinear differential equations, Safety, Sensors
Proceedings Papers

A Random Matrix Approach to Manipulator Jacobian

Javad Sovizi, Aliakbar Alamdari, Venkat N. Krovi
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T39A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3950
https://doi.org/10.1115/DSCC2013-3950
View Paper titled, A Random Matrix Approach to Manipulator Jacobian
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Topics: Manipulators, Uncertainty, Kinematics, Jacobian matrices, Robotics, End effectors, Entropy, Kinematic analysis, Modeling, Simulation
Proceedings Papers

Kinematic Modeling, Analysis and Control of Highly Reconfigurable Articulated Wheeled Vehicles

Aliakbar Alamdari, Xiaobo Zhou, Venkat N. Krovi
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A070, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12401
https://doi.org/10.1115/DETC2013-12401
View Paper titled, Kinematic Modeling, Analysis and Control of Highly Reconfigurable Articulated Wheeled Vehicles
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Topics: Kinematics, Modeling analysis, Vehicles, Redundancy (Engineering), Wheels, Chain, Robustness, Shapes, Stability, Surface roughness
Proceedings Papers

Kinetostatic Design-Refinement of Articulated Knee Braces

Seung-kook Jun, Xiaobo Zhou, Daniel K. Ramsey, Venkat N. Krovi
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A049, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12716
https://doi.org/10.1115/DETC2013-12716
View Paper titled, Kinetostatic Design-Refinement of Articulated Knee Braces
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Topics: Bracing (Construction), Design, Knee, Performance, Springs, Dampers, Dimensions, Exoskeleton devices, Kinematics, Sports
Proceedings Papers

Data Driven Development of Haptic Models for Needle Biopsy Phantoms

Madusudanan Sathia Narayanan, Xiaobo Zhou, Sudha Garimella, Wayne Waz, Frank Mendel, Venkat N. Krovi
Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 419-427, October 17–19, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2012-MOVIC2012-8658
https://doi.org/10.1115/DSCC2012-MOVIC2012-8658
View Paper titled, Data Driven Development of Haptic Models for Needle Biopsy Phantoms
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Topics: Haptics, Needles, Phantoms, Force feedback, Artificial neural networks, Biological tissues, Biomedicine, Displacement, Feedback, Materials testing
Proceedings Papers

Quantitative Performance Analysis of Haptic Devices With Parallelogram Subsystems

Leng-Feng Lee, Xiaobo Zhou, Venkat N. Krovi
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 941-948, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47725
https://doi.org/10.1115/DETC2011-47725
View Paper titled, Quantitative Performance Analysis of Haptic Devices With Parallelogram Subsystems
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Topics: Haptics, Design, Chain, Manipulators, Phantoms, Stiffness, Architecture, Engines, Kinematics, Motors
Proceedings Papers

Kinematic-, Static- and Workspace Analysis of a 6- P -U-S Parallel Manipulator

Madusudanan Sathia Narayanan, Sourish Chakravarty, Hrishi Shah, Venkat N. Krovi
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1456-1456.8, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28978
https://doi.org/10.1115/DETC2010-28978
View Paper titled, Kinematic-, Static- and Workspace Analysis of a 6- P -U-S Parallel Manipulator
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Topics: Kinematics, Manipulators, Absorption, Actuators, Engines, Modeling, Motors, Structural design, Weight (Mass)
Proceedings Papers

Simulation-Based Design of Exoskeletons Using Musculoskeletal Analysis

Priyanshu Agarwal, Madusudanan S. Narayanan, Leng-Feng Lee, Frank Mendel, Venkat N. Krovi
Proc. ASME. IDETC-CIE2010, Volume 3: 30th Computers and Information in Engineering Conference, Parts A and B, 1357-1364, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28572
https://doi.org/10.1115/DETC2010-28572
View Paper titled, Simulation-Based Design of Exoskeletons Using Musculoskeletal Analysis
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Topics: Design, Exoskeleton devices, Musculoskeletal system, Simulation, Muscle