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Proceedings Papers

Targeted Sampling DWA: A Path-Aware DWA Sampling Strategy for Omni-Directional Robots

Chen Shen, Gim Song Soh
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A061, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116450
https://doi.org/10.1115/DETC2023-116450
View Paper titled, Targeted Sampling DWA: A Path-Aware DWA Sampling Strategy for Omni-Directional Robots
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Topics: Robots, Navigation, Generators, Robot motion, Sensors, Simulation
Proceedings Papers

A Heuristic Approach to Classify Geometrically Defective Bead Segments Based on Range of Curvature, Range of Sound Power and Maximum Height

Nowrin Akter Surovi, Gim Song Soh
Proc. ASME. IDETC-CIE2023, Volume 3A: 49th Design Automation Conference (DAC), V03AT03A005, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114741
https://doi.org/10.1115/DETC2023-114741
View Paper titled, A Heuristic Approach to Classify Geometrically Defective Bead Segments Based on Range of Curvature, Range of Sound Power and Maximum Height
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Topics: Additive manufacturing, Density, Errors, Optical quality control, Wire
Journal Articles

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011002.
Paper No: JMR-22-1436
https://doi.org/10.1115/1.4056711
Published Online: March 3, 2023
View Article titled, “On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion
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Topics: Design, Robots, Wheels, Torque, Kinematics
Proceedings Papers

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A040, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90206
https://doi.org/10.1115/DETC2022-90206
View Paper titled, “On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion
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Topics: Center of mass, Design, Kinematics, Reliability, Robots, Wheels
Proceedings Papers

A Study of Machine Learning Framework for Enabling Early Defect Detection in Wire Arc Additive Manufacturing Processes

Nowrin Akter Surovi, Shaista Hussain, Gim Song Soh
Proc. ASME. IDETC-CIE2022, Volume 3A: 48th Design Automation Conference (DAC), V03AT03A002, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89164
https://doi.org/10.1115/DETC2022-89164
View Paper titled, A Study of Machine Learning Framework for Enabling Early Defect Detection in Wire Arc Additive Manufacturing Processes
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Topics: Additive manufacturing, Flaw detection, Machine learning, Wire, Acoustics, Printing, Support vector machines, Pressure
Journal Articles

Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion

Nina Robson, Bin Yun Chen, Jong-Seob Won, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011004.
Paper No: JMR-21-1432
https://doi.org/10.1115/1.4054168
Published Online: April 25, 2022
View Article titled, Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion
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Topics: Design, Grasping, Chain, Physiology, Kinematics
Proceedings Papers

A Study on the Acoustic Signal Based Frameworks for the Real-Time Identification of Geometrically Defective Wire Arc Bead

Nowrin Akter Surovi, Audelia G. Dharmawan, Gim Song Soh
Proc. ASME. IDETC-CIE2021, Volume 3A: 47th Design Automation Conference (DAC), V03AT03A003, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69573
https://doi.org/10.1115/DETC2021-69573
View Paper titled, A Study on the Acoustic Signal Based Frameworks for the Real-Time Identification of Geometrically Defective Wire Arc Bead
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Topics: Acoustics, Signals, Wire, Artificial neural networks, Bronze, Stainless steel, Additive manufacturing, Machine learning, Principal component analysis, Sensors
Journal Articles

Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow

Jun Liang Lau, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031012.
Paper No: JMR-20-1418
https://doi.org/10.1115/1.4050142
Published Online: March 15, 2021
View Article titled, Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow
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Topics: Sensors, Design, Textiles
Proceedings Papers

A Study on the Machine Learning Framework for the Geometric Modelling of Wire Arc Bead Profile

Xi Yu Oh, Gim Song Soh
Proc. ASME. IDETC-CIE2020, Volume 6: 25th Design for Manufacturing and the Life Cycle Conference (DFMLC), V006T06A001, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22295
https://doi.org/10.1115/DETC2020-22295
View Paper titled, A Study on the Machine Learning Framework for the Geometric Modelling of Wire Arc Bead Profile
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Topics: Geometric modeling, Machine learning, Wire, Geometry, Additive manufacturing, Artificial neural networks, Goodness-of-fit tests, Manufacturing, Modeling, Polynomials
Proceedings Papers

Characterisation, Design and Experimentation of a Fabric Based Wearable Joint Sensing Device

Jun Liang Lau, Gim Song Soh
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A040, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22249
https://doi.org/10.1115/DETC2020-22249
View Paper titled, Characterisation, Design and Experimentation of a Fabric Based Wearable Joint Sensing Device
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Topics: Design, Sensors, Textiles, Chain, Errors, Linkages, Robotics, Sports
Proceedings Papers

Creating Robust Passive Multi-Loop Wearable Hand Devices

Nina Robson, Bin Yun Chen, Jong-Seob Won, Gim Song Soh
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A035, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97623
https://doi.org/10.1115/DETC2019-97623
View Paper titled, Creating Robust Passive Multi-Loop Wearable Hand Devices
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Topics: Actuators, Chain, Conceptual design, Design, Dimensions, Engineering prototypes, Grasping, Kinematics, Mechanical admittance, Physiology
Proceedings Papers

A Highly Manoeuvrable and Untethered Under-Actuated Legged Piezoelectric Miniature Robot

Hassan H. Hariri, Gim Song Soh, Shaohui Foong, Kristin L. Wood
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A004, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97353
https://doi.org/10.1115/DETC2019-97353
View Paper titled, A Highly Manoeuvrable and Untethered Under-Actuated Legged Piezoelectric Miniature Robot
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Topics: Robots, Rotation, Aluminum, Diamonds, Vibration, Actuators, Center of mass, Compliant mechanisms, Design, Electronics
Journal Articles

Design, Modeling, and Experimentation of a Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives

Audelia G. Dharmawan, Priti Xavier, Hassan H. Hariri, Gim Song Soh, Avinash Baji, Roland Bouffanais, Shaohui Foong, Hong Yee Low, Kristin L. Wood
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020902.
Paper No: JMR-18-1348
https://doi.org/10.1115/1.4042457
Published Online: February 22, 2019
View Article titled, Design, Modeling, and Experimentation of a Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives
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Topics: Adhesives, Design, Robots, Modeling, Torque
Proceedings Papers

A Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives: Design, Modeling, and Experimentation

Audelia G. Dharmawan, Priti Xavier, David Anderson, K. Blake Perez, Hassan H. Hariri, Gim Song Soh, Avinash Baji, Roland Bouffanais, Shaohui Foong, Hong Yee Low, Kristin L. Wood
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A036, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85294
https://doi.org/10.1115/DETC2018-85294
View Paper titled, A Bio-Inspired Miniature Climbing Robot With Bilayer Dry Adhesives: Design, Modeling, and Experimentation
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Topics: Adhesives, Biomimetics, Design, Modeling, Robots, Engineering prototypes, Equilibrium (Physics), Performance, Torque, Wheels
Proceedings Papers

Localization of a Miniature Spherical Rolling Robot Using IMU, Odometry and UWB

Van Duong Nguyen, Gim Song Soh, Shaohui Foong, Kristin Wood
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A070, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85548
https://doi.org/10.1115/DETC2018-85548
View Paper titled, Localization of a Miniature Spherical Rolling Robot Using IMU, Odometry and UWB
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Topics: Robots, Collisions (Physics), Kinematics, Sensors, Errors, Kalman filters, Measurement units and standards, Mechanical admittance, Spherical shells, Surveillance
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

Design, Analysis, and Characterization of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage

Audelia G. Dharmawan, Hassan H. Hariri, Gim Song Soh, Shaohui Foong, Kristin L. Wood
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021003.
Paper No: JMR-17-1295
https://doi.org/10.1115/1.4038970
Published Online: February 1, 2018
View Article titled, Design, Analysis, and Characterization of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage
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Topics: Design, Robots, Linkages, Displacement, Actuators, Cycles, Gait analysis
Proceedings Papers

Design and Gait Analysis of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage

Audelia G. Dharmawan, Hassan H. Hariri, Gim Song Soh, Shaohui Foong, Kristin L. Wood
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A003, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67267
https://doi.org/10.1115/DETC2017-67267
View Paper titled, Design and Gait Analysis of a Two-Legged Miniature Robot With Piezoelectric-Driven Four-Bar Linkage
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Topics: Design, Gait analysis, Linkages, Robots, Actuators, Cycles, Deflection, Displacement, Engineering prototypes, Kinematics
Journal Articles

Motion Generation of Passive Slider Multiloop Wearable Hand Devices

Guan Rong Tan, Nina Patarinsky Robson, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041011.
Paper No: JMR-16-1311
https://doi.org/10.1115/1.4036611
Published Online: May 17, 2017
View Article titled, Motion Generation of Passive Slider Multiloop Wearable Hand Devices
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Topics: Chain, Design, Dimensions, Exoskeleton devices, Grasping, Linkages, Physiology, Rotation
Proceedings Papers

Simultaneous Optimal Robot Base Placement and Motion Planning Using Expanded Lagrangian Homotopy

Audelia Gumarus Dharmawan, Shaohui Foong, Gim Song Soh
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T24A010, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9882
https://doi.org/10.1115/DSCC2016-9882
View Paper titled, Simultaneous Optimal Robot Base Placement and Motion Planning Using Expanded Lagrangian Homotopy
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Topics: Path planning, Robots, Optimization, Collisions (Physics), Computer simulation, Kinematics, Manipulators, Newton's method