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Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Paper No: DETC2022-89384
https://doi.org/10.1115/DETC2022-89384
View Paper titled, Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes
Proceedings Papers

Work Process Transfer Reinforcement Learning: Feature Extraction and Finetuning in Ship Collision Avoidance

Xinrui Wang, Yan Jin
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A069, August 14–17, 2022
Paper No: DETC2022-91145
https://doi.org/10.1115/DETC2022-91145
View Paper titled, Work Process Transfer Reinforcement Learning: Feature Extraction and Finetuning in Ship Collision Avoidance
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Topics: Collisions (Physics), Feature extraction, Reinforcement learning, Ships
Proceedings Papers

Analytic Velocity Obstacle for Efficient Collision Avoidance

Zhimin Xi, Elnaz Asghari Torkamani
Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A042, August 14–17, 2022
Paper No: DETC2022-89615
https://doi.org/10.1115/DETC2022-89615
View Paper titled, Analytic Velocity Obstacle for Efficient Collision Avoidance
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Topics: Collisions (Physics), Optimization, Computation, Algorithms, Navigation, Cycles, Linear programming, Path planning
Proceedings Papers

Collision-Free Dynamic Window Approach for Moving Obstacles

Zhimin Xi
Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A037, August 14–17, 2022
Paper No: DETC2022-89613
https://doi.org/10.1115/DETC2022-89613
View Paper titled, Collision-Free Dynamic Window Approach for Moving Obstacles
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Topics: Collisions (Physics), Trajectories (Physics), Mechanical admittance, Navigation, Algorithms, Cycles, Design
Proceedings Papers

Evaluation and Modification of Kinetic Gas Collision Theory as Applied to Encounter Rate Dynamics for Multi-Robot Groups and Robot Swarms

Adam Schroeder, Mark Rooney, Glenn Lipscomb
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A014, August 14–17, 2022
Paper No: DETC2022-88465
https://doi.org/10.1115/DETC2022-88465
View Paper titled, Evaluation and Modification of Kinetic Gas Collision Theory as Applied to Encounter Rate Dynamics for Multi-Robot Groups and Robot Swarms
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Topics: Collisions (Physics), Dynamics (Mechanics), Multi-robot systems, Robots, Swarm robotics
Proceedings Papers

A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments

Sri Sadhan Jujjavarapu, Ehsan Tarkesh Esfahani
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A018, August 14–17, 2022
Paper No: DETC2022-91310
https://doi.org/10.1115/DETC2022-91310
View Paper titled, A Variable Stiffness End-of-Arm Mechanism for Safe Operation in Industrial Environments
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Topics: Stiffness, Collisions (Physics), Robots, Displacement, End effectors, Damage, Magnets, Manipulators, Permanent magnets, Robotics
Proceedings Papers

Insect Wing Buckling Influences Stress and Stability During Collisions

Mark Jankauski, Ryan Schwab, Cailin Casey, Andrew Mountcastle
Proc. ASME. IDETC-CIE2021, Volume 10: 33rd Conference on Mechanical Vibration and Sound (VIB), V010T10A023, August 17–19, 2021
Paper No: DETC2021-70551
https://doi.org/10.1115/DETC2021-70551
View Paper titled, Insect Wing Buckling Influences Stress and Stability During Collisions
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Topics: Buckling, Collisions (Physics), Stability, Stress, Wings, Flight, Damage, Springs, Computer simulation, Dynamics (Mechanics)
Proceedings Papers

Energy Absorption Characteristics of Passenger Car With Origami Structure

Yang Yang, Xilu Zhao, Ichiro Hagiwara
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A041, August 17–19, 2021
Paper No: DETC2021-69870
https://doi.org/10.1115/DETC2021-69870
View Paper titled, Energy Absorption Characteristics of Passenger Car With Origami Structure
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Topics: Absorption, Automobiles, Heating, Molding, Torsion, Vehicles, Collisions (Physics), Manufacturing, Peak load, Simulation
Proceedings Papers

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

Anirban Sinha, Anik Sarker, Nilanjan Chakraborty
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A012, August 17–19, 2021
Paper No: DETC2021-72009
https://doi.org/10.1115/DETC2021-72009
View Paper titled, Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance
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Topics: Collisions (Physics), End effectors, Interpolation, Kinematics, Path planning, Robots, Screws, Simulation, Space utilization (Design)
Proceedings Papers

Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances

Ademola Oridate, Mitchell Pryor, Carolyn Seepersad
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A008, August 17–19, 2021
Paper No: DETC2021-71602
https://doi.org/10.1115/DETC2021-71602
View Paper titled, Robot Motion Planner for Under-Constrained Trajectories With Part-Specific Geometric Variances
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Topics: Aircraft, Collisions (Physics), Computer-aided design, End effectors, Manipulators, Redundancy (Engineering), Robot motion, Robots, Shapes, Trajectories (Physics)
Proceedings Papers

A Numerical and Experimental Study on the Energy Absorption Characteristics of Deployable Origami Tubes

Zhongyuan Wo, Julia M. Raneses, Evgueni T. Filipov
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A029, August 17–19, 2021
Paper No: DETC2021-66723
https://doi.org/10.1115/DETC2021-66723
View Paper titled, A Numerical and Experimental Study on the Energy Absorption Characteristics of Deployable Origami Tubes
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Topics: Absorption, Design, Buckling, Collapse, Collisions (Physics), Damage, Locks (Waterways), Mechanical properties, Plasticity, Stiffness
Proceedings Papers

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

Stanley Mugisha, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, Damien Chablat
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A007, August 17–19, 2021
Paper No: DETC2021-71518
https://doi.org/10.1115/DETC2021-71518
View Paper titled, Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface
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Topics: Collaboration, Robots, Virtual reality, Haptics, Robotics, Algorithms, Collisions (Physics), End effectors, Mechanical admittance, Safety
Proceedings Papers

Development of an End-Effector for Mitigation of Collisions

Domenico Tommasino, Matteo Bottin, Giulio Cipriani, Alberto Doria, Giulio Rosati
Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A042, August 17–19, 2021
Paper No: DETC2021-68928
https://doi.org/10.1115/DETC2021-68928
View Paper titled, Development of an End-Effector for Mitigation of Collisions
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Topics: Collisions (Physics), Design, Dynamics (Mechanics), End effectors, Robotics, Robots, Computer simulation, Algorithms, Compliant mechanisms, Control systems
Proceedings Papers

Multi-UAV Cooperative Transportation Using Dynamic Control Allocation and a Reinforcement Learning Compensator

Shuai Li, Damiano Zanotto
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A034, August 17–19, 2021
Paper No: DETC2021-71797
https://doi.org/10.1115/DETC2021-71797
View Paper titled, Multi-UAV Cooperative Transportation Using Dynamic Control Allocation and a Reinforcement Learning Compensator
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Topics: Reinforcement learning, Transportation systems, Unmanned aerial vehicles, Cables, Accounting, Collisions (Physics), Computer simulation, Degrees of freedom, Dynamic models, Dynamics (Mechanics)
Proceedings Papers

Robot Path Planning via Simulated Annealing: A Near Real Time Approach

E. Sandgren, S. Venkataraman
Proc. ASME. DETC89, 15th Design Automation Conference: Volume 1 — Computer-Aided and Computational Design, 345-351, September 17–21, 1989
Paper No: DETC1989-0057
https://doi.org/10.1115/DETC1989-0057
View Paper titled, Robot Path Planning via Simulated Annealing: A Near Real Time Approach
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Topics: Path planning, Robots, Simulated annealing, Collisions (Physics), Computers, Design, Dynamic programming, Grippers, Manipulators, Real-time control
Proceedings Papers

A Contact Force Model With Hysteresis Damping for Impact Analysis of Multibody Systems

H. M. Lankarani, P. E. Nikravesh
Proc. ASME. DETC89, 15th Design Automation Conference: Volume 3 — Mechanical Systems Analysis, Design and Simulation, 45-51, September 17–21, 1989
Paper No: DETC1989-0104
https://doi.org/10.1115/DETC1989-0104
View Paper titled, A Contact Force Model With Hysteresis Damping for Impact Analysis of Multibody Systems
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Topics: Damping, Multibody systems, Particulate matter, Collisions (Physics), Equations of motion
Proceedings Papers

Optimal and Conforming Motion of a Point in a Constrained Plane

C. Ahrikencheikh, A. A. Seireg, B. Ravani
Proc. ASME. DETC89, 15th Design Automation Conference: Volume 1 — Computer-Aided and Computational Design, 369-375, September 17–21, 1989
Paper No: DETC1989-0060
https://doi.org/10.1115/DETC1989-0060
View Paper titled, Optimal and Conforming Motion of a Point in a Constrained Plane
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Topics: Algorithms, Clearances (Engineering), Collisions (Physics), Vacuum
Proceedings Papers

A Reference Point Algorithm for Planar Path Planning Strategies

R. Natarajan, N. G. Naganathan
Proc. ASME. DETC89, 15th Design Automation Conference: Volume 1 — Computer-Aided and Computational Design, 361-367, September 17–21, 1989
Paper No: DETC1989-0059
https://doi.org/10.1115/DETC1989-0059
View Paper titled, A Reference Point Algorithm for Planar Path Planning Strategies
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Topics: Algorithms, Path planning, Collisions (Physics)
Proceedings Papers

A Network Optimization Approach to Three-Dimensional Collision-Free Robot Path Planning

P. K. Jain, S. P. Manoochehri
Proc. ASME. DETC89, 15th Design Automation Conference: Volume 2 — Design Optimization, 177-182, September 17–21, 1989
Paper No: DETC1989-0088
https://doi.org/10.1115/DETC1989-0088
View Paper titled, A Network Optimization Approach to Three-Dimensional Collision-Free Robot Path Planning
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Topics: Collisions (Physics), Optimization, Path planning, Robots, Algorithms, Kinematics, Manipulators, Computer software, Dynamics (Mechanics)
Proceedings Papers

Robot Path Planning and Obstacle Avoidance: A Design Optimization Approach

E. Sandgren, S. Venkataraman
Proc. ASME. DETC89, 15th Design Automation Conference: Volume 2 — Design Optimization, 169-175, September 17–21, 1989
Paper No: DETC1989-0087
https://doi.org/10.1115/DETC1989-0087
View Paper titled, Robot Path Planning and Obstacle Avoidance: A Design Optimization Approach
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Topics: Design, Optimization, Path planning, Robots, Algorithms, Collisions (Physics), Computers, Dynamic programming, Grippers, Manipulators