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Journal Articles

Design of a Sliding Mode-Adaptive Proportional-Integral-Derivative Control for Aerial Systems With a Suspended Load Exposed to Wind Gusts

Vincenzo Di Paola, Alexandre Goldsztejn, Matteo Zoppi, Stéphane Caro
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2023, 18(6): 061008.
Paper No: CND-22-1192
DOI: https://doi.org/10.1115/1.4062324
Published Online: May 4, 2023
View Article titled, Design of a Sliding Mode-Adaptive Proportional-Integral-Derivative Control for Aerial Systems With a Suspended Load Exposed to Wind Gusts
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Topics: Design, Stress, Wind, Simulation, Errors
Journal Articles

Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface

Vamsikrishna Guda, Stanley Mugisha, Christine Chevallereau, Matteo Zoppi, Rezia Molfino, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041012.
Paper No: JMR-21-1534
DOI: https://doi.org/10.1115/1.4054509
Published Online: June 21, 2022
View Article titled, Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface
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Topics: Robots
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
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

Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme

Vishal Ramadoss, Darwin Lau, Dimiter Zlatanov, Matteo Zoppi
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A029, August 17–19, 2020
Paper No: DETC2020-22502
DOI: https://doi.org/10.1115/DETC2020-22502
View Paper titled, Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme
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Topics: Cables, Robots, Chain, Kinematics, Degrees of freedom, Design, Manipulators, Parallel mechanisms, Statics
Journal Articles

Design, Construction, and Control of Curves and Surfaces via Deployable Mechanisms

Vishal Ramadoss, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi, Shengnan Lyu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061008.
Paper No: JMR-19-1064
DOI: https://doi.org/10.1115/1.4044734
Published Online: October 9, 2019
View Article titled, Design, Construction, and Control of Curves and Surfaces via Deployable Mechanisms
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Topics: Approximation, Construction, Design, Linkages, Shapes, Simulation
Journal Articles

A Network of Type III Bricard Linkages

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi, Simon D. Guest
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011013.
Paper No: JMR-18-1112
DOI: https://doi.org/10.1115/1.4041641
Published Online: December 10, 2018
View Article titled, A Network of Type III Bricard Linkages
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Topics: Linkages, Shapes
Proceedings Papers

Orientation Planning for Multi-Agents With Discrete-Step Locomotion and Multiple Goals

Keerthi Sagar, Dimiter Zlatanov, Matteo Zoppi, Cristiano Nattero, Sreekumar Muthuswamy
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A077, August 26–29, 2018
Paper No: DETC2018-86147
DOI: https://doi.org/10.1115/DETC2018-86147
View Paper titled, Orientation Planning for Multi-Agents With Discrete-Step Locomotion and Multiple Goals
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Topics: Couplings, Fixturing, Integer programming, Manufacturing, Materials handling, Path planning, Robots, Robust control, Rotation, Uncertainty
Proceedings Papers

Multi-Goal Path Planning for Robotic Agents With Discrete-Step Locomotion

Keerthi Sagar, Dimiter Zlatanov, Matteo Zoppi, Cristiano Nattero, Sreekumar Muthuswamy
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A033, August 6–9, 2017
Paper No: DETC2017-68011
DOI: https://doi.org/10.1115/DETC2017-68011
View Paper titled, Multi-Goal Path Planning for Robotic Agents With Discrete-Step Locomotion
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Topics: Path planning, Robotics, Collisions (Physics), Integer programming, Materials handling, Pins (Engineering), Robots, Wear
Proceedings Papers

Construction and Control of Surfaces via Deployable Mechanisms With Three Degrees of Freedom

Shengnan Lu, Vishal Ramadoss, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A070, August 21–24, 2016
Paper No: DETC2016-59977
DOI: https://doi.org/10.1115/DETC2016-59977
View Paper titled, Construction and Control of Surfaces via Deployable Mechanisms With Three Degrees of Freedom
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Topics: Construction, Degrees of freedom, Linkages, Approximation, Civil engineering, Computer-aided design, Engineering simulation, Kinematics, Shapes, Simulation
Proceedings Papers

Path Planning of a Material Handling Agent With Novel Locomotion

Keerthi Sagar, Dimiter Zlatanov, Matteo Zoppi, Cristiano Nattero, M. Sreekumar
Proc. ASME. IDETC-CIE2016, Volume 4: 21st Design for Manufacturing and the Life Cycle Conference; 10th International Conference on Micro- and Nanosystems, V004T05A007, August 21–24, 2016
Paper No: DETC2016-60054
DOI: https://doi.org/10.1115/DETC2016-60054
View Paper titled, Path Planning of a Material Handling Agent With Novel Locomotion
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Topics: Materials handling, Path planning, Manufacturing, Algorithms, Design, Engineering simulation, Robotics, Simulation
Proceedings Papers

Direct Kinematics of the Exechon Tripod

Cuong Trinh, Dimiter Zlatanov, Matteo Zoppi
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A092, August 21–24, 2016
Paper No: DETC2016-60038
DOI: https://doi.org/10.1115/DETC2016-60038
View Paper titled, Direct Kinematics of the Exechon Tripod
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Topics: Kinematics, End effectors, Machinery, Manipulators, Manufacturing, Nonlinear equations, Parallel mechanisms, Robotics
Journal Articles

Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms

Shengnan Lu, Zeshan Ahmad, Matteo Zoppi, Xilun Ding, Dimiter Zlatanov, Rezia Molfino
Journal: Journal of Mechanical Design
Article Type: Design Innovation Paper
J. Mech. Des. August 2016, 138(8): 085001.
Paper No: MD-15-1418
DOI: https://doi.org/10.1115/1.4033037
Published Online: June 16, 2016
View Article titled, Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms
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Topics: Design, Robots, Robotics, Testing, Stress, Engineering prototypes, Torque, Stiffness, Grasping
Proceedings Papers

A Geometrical Approach to the Inverse Kinematics of 6R Serial Robots With Offset Wrists

Cuong Trinh, Dimiter Zlatanov, Matteo Zoppi, Rezia Molfino
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A016, August 2–5, 2015
Paper No: DETC2015-47950
DOI: https://doi.org/10.1115/DETC2015-47950
View Paper titled, A Geometrical Approach to the Inverse Kinematics of 6R Serial Robots With Offset Wrists
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Topics: Kinematics, Robots, Architecture, Computation, End effectors, Manipulators
Proceedings Papers

A Network of Type III Bricard Linkages

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Matteo Zoppi, Simon D. Guest
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A043, August 2–5, 2015
Paper No: DETC2015-47139
DOI: https://doi.org/10.1115/DETC2015-47139
View Paper titled, A Network of Type III Bricard Linkages
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Topics: Linkages, Shapes, Design methodology
Journal Articles

Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Rezia Molfino, Matteo Zoppi
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021008.
Paper No: JMR-15-1022
DOI: https://doi.org/10.1115/1.4031639
Published Online: November 24, 2015
View Article titled, Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom
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Topics: Linkages, Magnification
Journal Articles

Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper

Loan Le, Matteo Zoppi, Michal Jilich, Han Bo, Dimiter Zlatanov, Rezia Molfino
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011011.
Paper No: JMR-14-1267
DOI: https://doi.org/10.1115/1.4029292
Published Online: February 1, 2015
View Article titled, Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper
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Topics: Actuators, Design, Grippers, Stiffness, Robots
Proceedings Papers

Application of a Biphasic Actuator in the Design of a Robot Gripper for Garment Handling

Loan Le, Matteo Zoppi, Michal Jilich, Han Bo, Dimiter Zlatanov, Rezia Molfino
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A022, August 17–20, 2014
Paper No: DETC2014-35396
DOI: https://doi.org/10.1115/DETC2014-35396
View Paper titled, Application of a Biphasic Actuator in the Design of a Robot Gripper for Garment Handling
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Topics: Actuators, Design, Grippers, Robots, Stiffness, Degrees of freedom, Design engineering, Feedback, Grasping, Hydraulic drive systems
Proceedings Papers

Approximation and Control of Curvilinear Shapes via Deployable Mechanisms With Two Degrees of Freedom

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Rezia Molfino, Matteo Zoppi
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A024, August 17–20, 2014
Paper No: DETC2014-35411
DOI: https://doi.org/10.1115/DETC2014-35411
View Paper titled, Approximation and Control of Curvilinear Shapes via Deployable Mechanisms With Two Degrees of Freedom
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Topics: Approximation, Degrees of freedom, Shapes, Kinematic analysis, Linkages
Proceedings Papers

Design and Testing of a Novel Stepless Lockable Joint for Use in Reconfigurable Fixtures

Shengnan Lu, Matteo Zoppi, Dimiter Zlatanov, Zeshan Ahmad, Rezia Molfino
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A025, August 17–20, 2014
Paper No: DETC2014-35428
DOI: https://doi.org/10.1115/DETC2014-35428
View Paper titled, Design and Testing of a Novel Stepless Lockable Joint for Use in Reconfigurable Fixtures
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Topics: Design, Testing, Assembly lines, Conceptual design, Engineering prototypes, Locks (Waterways), Stiffness, Stress, Torque, Welding
Proceedings Papers

Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling

Loan Le, Matteo Zoppi, Michal Jilich, Raffaello Camoriano, Dimiter Zlatanov, Rezia Molfino
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A013, August 4–7, 2013
Paper No: DETC2013-13150
DOI: https://doi.org/10.1115/DETC2013-13150
View Paper titled, Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling
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Topics: Grippers, Design, Grasping, Textiles, Kinematics, Robotics, Robots, Shapes, Statics, Tactile sensors