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Journal Articles

Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators

Zhiguang Xing, Guoguo Yang, Pengyuan Wang, Zheng Zheng, Jianwen Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031010.
Paper No: JMR-23-1702
https://doi.org/10.1115/1.4066098
Published Online: September 20, 2024
View Article titled, Analytical Inverse Kinematics for Two-Segment Extensible Continuum Manipulators
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Topics: Kinematics, Manipulators, Algorithms, Robots
Journal Articles

FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning

Suraj Borate, Rwik Rana, Praveen Venkatesh, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104502.
Paper No: JMR-23-1444
https://doi.org/10.1115/1.4066129
Published Online: September 2, 2024
View Article titled, FF-RRT*: A Sampling-Based Planner for Multirobot Global Formation Path Planning
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Topics: Algorithms, Collisions (Physics), Multi-robot systems, Path planning, Robots
Journal Articles

A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

Jianyu Yang, Xuanting Li, Zhongqi Sheng, Xiaofeng Ma, Hui Shi, Hualong Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021009.
Paper No: JMR-23-1618
https://doi.org/10.1115/1.4066000
Published Online: August 8, 2024
View Article titled, A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots
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Topics: Algorithms, Errors, Robots, Simulation, Kinematics, End effectors, Trajectories (Physics)
Journal Articles

Architecture Singularity Distance Computations for Linear Pentapods

Aditya Kapilavai, Georg Nawratil
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021008.
Paper No: JMR-24-1034
https://doi.org/10.1115/1.4065789
Published Online: July 23, 2024
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms
Journal Articles

Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots

Felix Trautwein, David Dietrich, Andreas Pott, Alexander Verl
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010908.
Paper No: JMR-23-1708
https://doi.org/10.1115/1.4065642
Published Online: June 17, 2024
View Article titled, Strategy for Topological Reconfiguration of Cable-Driven Parallel Robots
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Topics: Cables, Robots, Stability, Topology, Kinematics, Modeling, Algorithms
Journal Articles

Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics

Ryan J. Caverly, Sze Kwan Cheah, Keegan R. Bunker, Samir Patel, Niko Sexton, Vinh L. Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010904.
Paper No: JMR-23-1714
https://doi.org/10.1115/1.4065236
Published Online: June 7, 2024
View Article titled, Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics
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Topics: Algorithms, Cables, Calibration, Errors, Kinematics, Simulation, Robots, End effectors
Journal Articles

Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger

Runming Zhang, Xuechao Chen, Yu Zhang, Zhangguo Yu, Qiang Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124501.
Paper No: JMR-23-1321
https://doi.org/10.1115/1.4065024
Published Online: March 29, 2024
View Article titled, Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger
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Topics: Algorithms, Control equipment, Cycles, Feedback, Humanoid robots, Modeling, Robots, Center of mass, Robot motion
Journal Articles

Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111002.
Paper No: JMR-23-1677
https://doi.org/10.1115/1.4065071
Published Online: March 29, 2024
View Article titled, Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators
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Topics: Algorithms, Kinematics, Robots, Monte Carlo methods, End effectors
Journal Articles

Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints

Xuhao Wang, Chengfa Wang, Mengli Wu, Mingyu Li, Yilong Xu, Guanhao Li, Zhiyong Guo, Yiran Cao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121003.
Paper No: JMR-23-1297
https://doi.org/10.1115/1.4065084
Published Online: March 29, 2024
View Article titled, Design and Kinematics of a Novel Continuum Robot Connected by Unique Offset Cross Revolute Joints
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Topics: Kinematics, Robots, Cables, Algorithms, Simulation, Stiffness
Journal Articles

A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101006.
Paper No: JMR-23-1111
https://doi.org/10.1115/1.4064568
Published Online: February 27, 2024
View Article titled, A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
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Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors
Journal Articles

Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation

Ravinder Kumar, T. A. Dwarakanath, Gaurav Bhutani, S. K. Sinha
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101005.
Paper No: JMR-23-1445
https://doi.org/10.1115/1.4064485
Published Online: February 5, 2024
View Article titled, Novel and Robust Forward Kinematic Algorithm for Real-Time Control of General Six-Degree-of-Freedom Parallel Robot for Tele-Manipulation and Tele-Navigation
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Topics: Algorithms, Computation, Kinematics, Trajectories (Physics), Robots, Manipulators
Journal Articles

Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems

Seth Donahue, Trevor Kingsbury, Kota Takahashi, Matthew J. Major
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081012.
Paper No: JMR-22-1646
https://doi.org/10.1115/1.4064279
Published Online: January 11, 2024
View Article titled, Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems
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Topics: Algorithms, Artificial limbs, Displacement, Prostheses, Modeling, Nonlinear dynamics, Dynamics (Mechanics)
Journal Articles

Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot Based on Kinematics, Dynamics, and Stiffness Modeling

Jing Li, NingHe Lu, NanYan Shen, ZeHui Ma, ZiQi Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061009.
Paper No: JMR-23-1232
https://doi.org/10.1115/1.4063169
Published Online: October 4, 2023
View Article titled, Motion Performance Study of 2UPR-1RPS/2R Hybrid Robot Based on Kinematics, Dynamics, and Stiffness Modeling
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Topics: Dynamics (Mechanics), Kinematics, Robots, Stiffness, Modeling, Algorithms
Journal Articles

A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots

Federico Zaccaria, Edoardo Idá, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041010.
Paper No: JMR-22-1473
https://doi.org/10.1115/1.4062585
Published Online: June 9, 2023
View Article titled, A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots
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Topics: Algorithms, Computation, Robots
Journal Articles

Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model

Wenjie Wang, Jie Wang, Congcong Chen, Yang Luo, Xiaohua Wang, Lingtao Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041005.
Paper No: JMR-22-1292
https://doi.org/10.1115/1.4062464
Published Online: June 5, 2023
View Article titled, Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model
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Topics: Design, Errors, Robots, Ropes, Surgery, Algorithms, Engineering prototypes, Robustness, Position control
Journal Articles

Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments

Chenhao Lu, Yao Chen, Jiayi Yan, Jian Feng, Pooya Sareh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031001.
Paper No: JMR-22-1316
https://doi.org/10.1115/1.4056870
Published Online: March 8, 2023
View Article titled, Algorithmic Spatial Form-Finding of Four-Fold Origami Structures Based on Mountain-Valley Assignments
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Topics: Algorithms, Design, Kinematics, Stiffness, Displacement, Deformation, Structural analysis
Journal Articles

Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo

Hadi Yadavari, Vahid Tavakol Aghaei, Serhat İkizoğlu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035001.
Paper No: JMR-22-1256
https://doi.org/10.1115/1.4056971
Published Online: March 3, 2023
View Article titled, Deep Reinforcement Learning-Based Control of Stewart Platform With Parametric Simulation in ROS and Gazebo
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Topics: Algorithms, Control equipment, Kinematics, Reinforcement learning, Robots, Simulation
Journal Articles

Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism

Fanyi Guo, Zhili Sun, Shengnan Zhang, Runan Cao, Haiyang Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061007.
Paper No: JMR-22-1417
https://doi.org/10.1115/1.4056376
Published Online: January 17, 2023
View Article titled, Dynamic Characteristics and Frequency Reliability Analysis of an Optimized Compliant Stroke Amplification Mechanism
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Topics: Damping, Stiffness, Displacement, Event history analysis, Excitation, Optimization, Failure, Probability, Reliability, Frequency response
Journal Articles

Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm

Lei Wang, Liang Sun, Gaohong Yu, Yuzhu Zhou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041002.
Paper No: JMR-21-1404
https://doi.org/10.1115/1.4055058
Published Online: November 10, 2022
View Article titled, Approximate Motion Generation of an Epicyclic Gear Train With Noncircular Gears Based on Optimization–Homotopy Algorithm
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Topics: Design, Gears, Optimization, Planetary gears, Trains, Algorithms, Errors, Rotation
Journal Articles

Dynamics of Mobile Manipulators Using Dual Quaternion Algebra

Frederico Fernandes Afonso Silva, Juan José Quiroz-Omaña, Bruno Vilhena Adorno
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061005.
Paper No: JMR-21-1398
https://doi.org/10.1115/1.4054320
Published Online: September 14, 2022
View Article titled, Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
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Topics: Algebra, Algorithms, Manipulators, Robots, Robotics, Simulation, Dynamics (Mechanics)