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Journal Articles

Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021013.
Paper No: JMR-23-1698
https://doi.org/10.1115/1.4066428
Published Online: September 20, 2024
View Article titled, Gait Generation of a 10-Degree-of-Freedom Humanoid Robot on Deformable Terrain Based on Spherical Inverted Pendulum Model
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Topics: Dynamics (Mechanics), Humanoid robots, Pendulums, Robots, Kinematics
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

Design and Testing of a New LARMbot Torso

Wenshuo Gao, Matteo Russo, Marco Ceccarelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091007.
Paper No: JMR-23-1617
https://doi.org/10.1115/1.4064486
Published Online: February 1, 2024
View Article titled, Design and Testing of a New LARMbot Torso
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Topics: Cables, Design, Engineering prototypes, Kinematics, Testing, Humanoid robots, Servomotors, Disks, Kinematic analysis
Journal Articles

A Variable Stiffness Sole for Biped Robot and Its Experimental Verification

Junyeon Namgung, Yun-Ho Han, Baek-Kyu Cho
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054502.
Paper No: JMR-23-1179
https://doi.org/10.1115/1.4062650
Published Online: June 26, 2023
View Article titled, A Variable Stiffness Sole for Biped Robot and Its Experimental Verification
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Topics: Robots, Stiffness, Variable structure systems, Rubber, Humanoid robots, Shapes
Journal Articles

Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots

Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031010.
Paper No: JMR-22-1294
https://doi.org/10.1115/1.4062273
Published Online: April 21, 2023
View Article titled, Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots
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Topics: Calibration, Control equipment, Design, Grippers, Humanoid robots, Pressure, Trajectories (Physics), Stress, Robots, Weight (Mass)
Journal Articles

Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability

Hyunjong Song, William Z. Peng, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011005.
Paper No: JMR-22-1508
https://doi.org/10.1115/1.4056956
Published Online: March 8, 2023
View Article titled, Partition-Aware Stability Control for Humanoid Robot Push Recovery With Whole-Body Capturability
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Robots, Stability, Construction
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
View Article titled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback
Journal Articles

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Gustavo A. Medrano-Cerda
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Discussions
J. Mechanisms Robotics. October 2022, 14(5): 055501.
Paper No: JMR-20-1032
https://doi.org/10.1115/1.4049005
Published Online: August 9, 2022
View Article titled, Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms
Journal Articles

Stability Region-Based Analysis of Walking and Push Recovery Control

William Z. Peng, Hyunjong Song, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031005.
Paper No: JMR-20-1460
https://doi.org/10.1115/1.4050095
Published Online: March 12, 2021
View Article titled, Stability Region-Based Analysis of Walking and Push Recovery Control
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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Optimization, Robots, Stability, Trajectories (Physics)
Journal Articles

Pose Changes From a Different Point of View

Gregory S. Chirikjian, Robert Mahony, Sipu Ruan, Jochen Trumpf
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021008.
Paper No: JMR-17-1315
https://doi.org/10.1115/1.4039121
Published Online: February 27, 2018
View Article titled, Pose Changes From a Different Point of View
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Topics: Aircraft, Displacement, Humanoid robots, Kinematics, Rotation
Journal Articles

Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots

Samer Alfayad, Ahmad M. Tayba, Fethi B. Ouezdou, Faycal Namoun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041017.
Paper No: JMR-15-1281
https://doi.org/10.1115/1.4033157
Published Online: April 15, 2016
View Article titled, Kinematic Synthesis and Modeling of a Three Degrees-of-Freedom Hybrid Mechanism for Shoulder and Hip Modules of Humanoid Robots
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Topics: Actuators, Humanoid robots, Kinematics, Yaw, Degrees of freedom, Modeling, Robots, Torque, Chain