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Proceedings Papers

Orientation Control of Self-Righting Tensegrity Landers

Alan Zhang, Douglas Hutchings, Mayank Gupta, Alice Agogino

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A025, August 17–19, 2021

Paper No: DETC2021-70989

DOI: https://doi.org/10.1115/DETC2021-70989

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Topics: Robots, Tensegrity

Proceedings Papers

AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment

Raja Manish, Ze An, Ayman Habib, Mitchell R. Tuinstra, David J. Cappelleri

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A017, August 17–19, 2021

Paper No: DETC2021-68143

DOI: https://doi.org/10.1115/DETC2021-68143

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Topics: Robotics, Sensors, Design, Feedback, Resolution (Optics), Robots

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

DOI: https://doi.org/10.1115/DETC2021-72009

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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

DOI: https://doi.org/10.1115/DETC2021-71602

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Topics: Aircraft, Collisions (Physics), Computer-aided design, End effectors, Manipulators, Redundancy (Engineering), Robot motion, Robots, Shapes, Trajectories (Physics)

Proceedings Papers

Tuning Motion of Musical Saw With a Humanoid Robot for Industrial Automation Based on a Sound Feed-Back Process

Hiroaki Hanai, Atsuyuki Miura, Toshiki Hirogaki, Eiichi Aoyama

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A003, August 17–19, 2021

Paper No: DETC2021-68287

DOI: https://doi.org/10.1115/DETC2021-68287

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Topics: Finite element analysis, Humanoid robots, Robots, Acoustics, Instrumentation, Displacement, Jigs and fixtures, Real-time control, Sound pressure

Proceedings Papers

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function

Dongming Gan, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min, Richard Voyles

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A020, August 17–19, 2021

Paper No: DETC2021-70081

DOI: https://doi.org/10.1115/DETC2021-70081

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Topics: Actuators, Mobile robots, Robots, Stability, Wheels

Proceedings Papers

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Jiawei Tian, Xianfeng David Gu, Shikui Chen

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A014, August 17–19, 2021

Paper No: DETC2021-67821

DOI: https://doi.org/10.1115/DETC2021-67821

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Topics: Optimization, Robots, Topology, Actuators, Elastomers, Magnetic fields, Shapes, Kinematics, Adaptive structures, Bionics

Proceedings Papers

Design of Light Weight-Low Cost Remotely Operated Underwater Vehicle

Salah Salah, Kareem El Telbany, Bavly Samy, Ahmed Khalil, Karim El-Ghanzory, Wessam Hussein, Mostafa Yacoub

Proc. ASME. IDETC-CIE2021, Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT), V001T01A010, August 17–19, 2021

Paper No: DETC2021-70555

DOI: https://doi.org/10.1115/DETC2021-70555

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Topics: Computational fluid dynamics, Design, Remotely operated vehicles, Underwater vehicles, Weight (Mass), Drag (Fluid dynamics), Buoyancy, Dynamic analysis, Electric motors, Electronic systems

Proceedings Papers

A New Robot Path Planning Method Based on LSTM Neural Network and Rapidly-Exploring Random Tree Algorithm

Weifei Hu, Feng Tang, Zhenyu Liu, Jianrong Tan

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A006, August 17–19, 2021

Paper No: DETC2021-71234

DOI: https://doi.org/10.1115/DETC2021-71234

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Topics: Algorithms, Artificial neural networks, Path planning, Robots

Proceedings Papers

Neural Network Based Transfer Learning for Robot Path Generation

Houcheng Tang, Leila Notash

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A049, August 17–19, 2021

Paper No: DETC2021-69006

DOI: https://doi.org/10.1115/DETC2021-69006

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Topics: Artificial neural networks, Displacement, Manipulators, Robots

Proceedings Papers

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Simone Asci, Ketao Zhang

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A023, August 17–19, 2021

Paper No: DETC2021-70642

DOI: https://doi.org/10.1115/DETC2021-70642

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Topics: Design, Kinematics, Robots, Simulation, Robotics, Actuators, Control systems, Kinematic analysis, Legged locomotion, Trajectories (Physics)

Proceedings Papers

Introduction and Preliminary Investigation of Buoyancy Assisted Robots That Are Cheap, Safe, and Will Never Fall Down

Matthew David Williams, Dennis Hong

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A022, August 17–19, 2021

Paper No: DETC2021-70631

DOI: https://doi.org/10.1115/DETC2021-70631

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Topics: Buoyancy, Robots, Drag (Fluid dynamics), Engineering simulation, Simulation, Weight (Mass), Ceilings, Energy consumption, Gases, Genetic algorithms

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

DOI: https://doi.org/10.1115/DETC2021-71518

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Topics: Collaboration, Robots, Virtual reality, Haptics, Robotics, Algorithms, Collisions (Physics), End effectors, Mechanical admittance, Safety

Proceedings Papers

A Semi-Autonomous Quadruped Robot for Performing Disinfection in Cluttered Environments

Yiyu Chen, Abhinav Pandey, Zhiwei Deng, Anthony Nguyen, Ruiqi Wang, Pornrawee Thonapalin, Quan Nguyen, Satyandra K. Gupta

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A024, August 17–19, 2021

Paper No: DETC2021-70850

DOI: https://doi.org/10.1115/DETC2021-70850

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Topics: Robots, Sprays, Computer software, Computers, Design, Feedback, Force control, Image processing, Lasers, Pandemics

Proceedings Papers

Feedback Control of the Locomotion of a Tailed Quadruped Robot

Yujiong Liu, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A009, August 17–19, 2021

Paper No: DETC2021-71611

DOI: https://doi.org/10.1115/DETC2021-71611

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Topics: Feedback, Robots, Control equipment, Degrees of freedom, Pendulums, Propulsion, Robotics

Proceedings Papers

The Kinematic and Static Analysis of the Dual Drive Fusiform Tensegrity Robot

Shibo Liu, Jiangping Mei, Panfeng Wang, Fan Guo

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A027, August 17–19, 2021

Paper No: DETC2021-71292

DOI: https://doi.org/10.1115/DETC2021-71292

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Topics: Kinematics, Robots, Simulation, Tensegrity

Proceedings Papers

Optimal Control of a 5-Link Biped Using Quadratic Polynomial Model of Two-Point Boundary Value Problem

Ernesto Hernandez-Hinojosa, Aykut Satici, Pranav A. Bhounsule

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A005, August 17–19, 2021

Paper No: DETC2021-70733

DOI: https://doi.org/10.1115/DETC2021-70733

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Topics: Boundary-value problems, Optimal control, Polynomials, Real-time control, Ditches, Feedback, Robots, Simulation

Proceedings Papers

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach

Utkarsh A. Mishra, Stéphane Caro

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A053, August 17–19, 2021

Paper No: DETC2021-71064

DOI: https://doi.org/10.1115/DETC2021-71064

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Topics: Artificial neural networks, Cables, Kinematics, Robots, Algorithms, Equilibrium (Physics), Function approximation, Gravity (Force), Kinematic analysis, Optimization

Proceedings Papers

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, Sami Haddadin, Nilanjan Chakraborty

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A010, August 17–19, 2021

Paper No: DETC2021-71814

DOI: https://doi.org/10.1115/DETC2021-71814

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Topics: Interpolation, Kinematics, Path planning, Screws, Robots, Trajectories (Physics), Assembly lines, Generators, Manufacturing, Redundancy (Engineering)

Proceedings Papers

Earthworm-Like Planar Locomotion Robot Based on Yoshimura-Origami Structure

Qiwei Zhang, Jian Xu, Hongbin Fang

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A045, August 17–19, 2021

Paper No: DETC2021-71868

DOI: https://doi.org/10.1115/DETC2021-71868

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Topics: Robots

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NARROW

Orientation Control of Self-Righting Tensegrity Landers

AgBug: Agricultural Robotic Platform for In-Row and Under Canopy Crop Monitoring and Assessment

Task Space Planning With Complementarity Constraint-Based Obstacle Avoidance

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

Tuning Motion of Musical Saw With a Humanoid Robot for Industrial Automation Based on a Sound Feed-Back Process

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Design of Light Weight-Low Cost Remotely Operated Underwater Vehicle

A New Robot Path Planning Method Based on LSTM Neural Network and Rapidly-Exploring Random Tree Algorithm

Neural Network Based Transfer Learning for Robot Path Generation

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Introduction and Preliminary Investigation of Buoyancy Assisted Robots That Are Cheap, Safe, and Will Never Fall Down

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

A Semi-Autonomous Quadruped Robot for Performing Disinfection in Cluttered Environments

Feedback Control of the Locomotion of a Tailed Quadruped Robot

The Kinematic and Static Analysis of the Dual Drive Fusiform Tensegrity Robot

Optimal Control of a 5-Link Biped Using Quadratic Polynomial Model of Two-Point Boundary Value Problem

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach

Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation

Earthworm-Like Planar Locomotion Robot Based on Yoshimura-Origami Structure

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