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Journal Articles

Serial Metamorphic Manipulator Dynamics Formulation Implementing Screw Theory Tools

N. Stravopodis, V. C. Moulianitis
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2024, 4(4): 041006.
Paper No: ALDSC-24-1017
https://doi.org/10.1115/1.4066461
Published Online: October 3, 2024
View Article titled, Serial Metamorphic Manipulator Dynamics Formulation Implementing Screw Theory Tools
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Topics: Algorithms, Anatomy, Dynamic modeling, Dynamics (Mechanics), Inertia (Mechanics), Kinematics, Manipulator dynamics, Manipulators, Manufacturing, Screws
Journal Articles

Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021007.
Paper No: ALDSC-23-1074
https://doi.org/10.1115/1.4064517
Published Online: March 7, 2024
View Article titled, Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots
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Topics: Control equipment, Dynamic models, Momentum, Dynamic modeling, Pole placement, Robots, Kinematics
Journal Articles

Utilization of Manipulator Redundancy for Torque Reduction During Force Interaction

Shail Jadav, Harish J. Palanthandalam-Madapusi
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021005.
Paper No: ALDSC-23-1073
https://doi.org/10.1115/1.4064654
Published Online: February 26, 2024
View Article titled, Utilization of Manipulator Redundancy for Torque Reduction During Force Interaction
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Topics: Manipulators, Redundancy (Engineering), Robots, Torque, Trajectories (Physics), Robotics, Kinematics, End effectors, Optimization
Journal Articles

An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics

Emeka K. Ezeanya, Alan A. Barhorst
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2024, 4(1): 011006.
Paper No: ALDSC-23-1056
https://doi.org/10.1115/1.4064347
Published Online: February 2, 2024
View Article titled, An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics
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Topics: Errors, Flexible manipulators, Kinematics, Manipulators, Modeling, Pole placement, Sliding mode control, Tendons, Control modeling, Displacement
Journal Articles

A Kinematically Constrained Kalman Filter for Sensor Fusion in a Wearable Origami Robot

Emiliano Quinones Yumbla, Dongting Li, Tolemy M. Nibi, Daniel M. Aukes, Wenlong Zhang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2023, 3(1): 011005.
Paper No: ALDSC-22-1033
https://doi.org/10.1115/1.4056986
Published Online: March 16, 2023
View Article titled, A Kinematically Constrained Kalman Filter for Sensor Fusion in a Wearable Origami Robot
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Topics: Kalman filters, Kinematics, Robots, Sensors, Algorithms, Hall effect, Design
Journal Articles

Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040902.
Paper No: ALDSC-22-1025
https://doi.org/10.1115/1.4055690
Published Online: October 19, 2022
View Article titled, Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot
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Topics: Control equipment, Kinematics, Mobile robots, Robots, Trajectories (Physics), Wheels, Dynamics (Mechanics), Modeling, Dynamic modeling, Dynamic models
Journal Articles

Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint

Hamid Vejdani, LaRance Haji, Vernon Fernandez, Badih Jawad
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 041002.
Paper No: ALDSC-22-1016
https://doi.org/10.1115/1.4055691
Published Online: October 7, 2022
View Article titled, Mechanism Design and Control of a Winged Hovering Robot With Flapping Angle Constraint
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Topics: Design, Robots, Wings, Linkages, Kinematics, Motors, Cycles, Optimization
Journal Articles

Equations of Motion of Dynamical Systems From Kinematic Characteristics of the Phase Space

Tuhin Das
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2022, 2(3): 031002.
Paper No: ALDSC-21-1037
https://doi.org/10.1115/1.4053660
Published Online: February 16, 2022
View Article titled, Equations of Motion of Dynamical Systems From Kinematic Characteristics of the Phase Space
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Topics: Dynamic systems, Equations of motion, Kinematics, Pendulums, Phase space, Dynamics (Mechanics)
Journal Articles

Design of an Intent Recognition System for Dynamic, Rapid Motions in Unstructured Environments

Pooja R. Moolchandani, Anirban Mazumdar, Aaron J. Young
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2022, 2(1): 011004.
Paper No: ALDSC-20-1084
https://doi.org/10.1115/1.4051140
Published Online: May 31, 2021
View Article titled, Design of an Intent Recognition System for Dynamic, Rapid Motions in Unstructured Environments
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Topics: Errors, Intent recognition, Sensors, Kinematics, Design
Journal Articles

Design of a Xenia Coral Robot Using a High-Stroke Compliant Linear Electromagnetic Actuator

Noah Kohls, Ibrahim Abdeally, Bryan P. Ruddy, Yi Chen Mazumdar
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2021, 1(3): 031011.
Paper No: ALDSC-20-1052
https://doi.org/10.1115/1.4050041
Published Online: February 23, 2021
View Article titled, Design of a Xenia Coral Robot Using a High-Stroke Compliant Linear Electromagnetic Actuator
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Topics: Actuators, Bending (Stress), Design, Electromagnetic actuators, Kinematics, Magnets, Permanent magnets, Robots, Solenoids, Liquid metals
Journal Articles

Application of Mobile Robots to Linear Control Theory Education

Satoko Yamakawa
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2021, 1(3): 031002.
Paper No: ALDSC-20-1015
https://doi.org/10.1115/1.4048404
Published Online: October 5, 2020
View Article titled, Application of Mobile Robots to Linear Control Theory Education
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Topics: Control equipment, Control theory, Education, Mobile robots, Robots, Trajectories (Physics), Kinematics, Students, Approximation, Motors