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Journal Articles

A Hybrid Tracked-Wheeled Multi-Directional Mobile Robot

Pinhas Ben-Tzvi, Wael Saab
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041008.
Paper No: JMR-18-1150
https://doi.org/10.1115/1.4043599
Published Online: May 17, 2019
View Article titled, A Hybrid Tracked-Wheeled Multi-Directional Mobile Robot
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Topics: Design, Mechanical admittance, Mobile robots, Robots, Wheels, Engineering prototypes, Algorithms, Dynamic stability, Stability
Journal Articles

Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot

William S. Rone, Wael Saab, Anil Kumar, Pinhas Ben-Tzvi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2019, 141(8): 081002.
Paper No: DS-17-1559
https://doi.org/10.1115/1.4042948
Published Online: March 25, 2019
View Article titled, Controller Design, Analysis, and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot
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Topics: Control equipment, Design, Robotics, Robots, Simulation, Trajectories (Physics), Yaw, Motors, Engineering prototypes, Simulation results
Proceedings Papers

Improved Alignment Estimation for Autonomous Docking of Mobile Robots

Shubhdildeep S. Sohal, Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A072, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85626
https://doi.org/10.1115/DETC2018-85626
View Paper titled, Improved Alignment Estimation for Autonomous Docking of Mobile Robots
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Topics: Mobile robots, Image processing, Robots, Sensors
Journal Articles

Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail

William S. Rone, Wael Saab, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041001.
Paper No: JMR-17-1360
https://doi.org/10.1115/1.4039500
Published Online: April 5, 2018
View Article titled, Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail
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Topics: Cables, Design, Robotics, Robots, Yaw, Universal joints, Sensors, Springs, Displacement
Proceedings Papers

Design, Modeling and Optimization of the Universal-Spatial Robotic Tail

William Rone, Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. IMECE2017, Volume 4A: Dynamics, Vibration, and Control, V04AT05A020, November 3–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2017-71463
https://doi.org/10.1115/IMECE2017-71463
View Paper titled, Design, Modeling and Optimization of the Universal-Spatial Robotic Tail
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Topics: Design, Modeling, Optimization, Robotics, Springs, Cables, Kinematics, Mobile robots, Chain, Compression
Proceedings Papers

Maneuverability and Heading Control of a Quadruped Robot Utilizing Tail Dynamics

Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T21A010, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5337
https://doi.org/10.1115/DSCC2017-5337
View Paper titled, Maneuverability and Heading Control of a Quadruped Robot Utilizing Tail Dynamics
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Topics: Dynamics (Mechanics), Robots, Modeling, Robotics, Control equipment, Design, Equilibrium (Physics), Mobile robots, Rotation, Sensitivity analysis
Proceedings Papers

Design and Analysis of Reduced Degree of Freedom Modular Snake Robot

Peter Racioppo, Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A009, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67377
https://doi.org/10.1115/DETC2017-67377
View Paper titled, Design and Analysis of Reduced Degree of Freedom Modular Snake Robot
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Topics: Degrees of freedom, Design, Robots, Cables, Robotics, Chain, Dynamics (Mechanics), Inertia (Mechanics), Kinematics, Pulleys
Proceedings Papers

Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control

Prashant Kumar, Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A010, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67436
https://doi.org/10.1115/DETC2017-67436
View Paper titled, Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control
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Topics: Design, Feedforward control, Robots, Stability, Mechanical admittance, Wheels, Control equipment, Dynamic stability, Robotics, Yaw
Proceedings Papers

Analysis of Differential Mechanisms for a Robotic Head Stabilization System

Adam Williams, Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A008, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67371
https://doi.org/10.1115/DETC2017-67371
View Paper titled, Analysis of Differential Mechanisms for a Robotic Head Stabilization System
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Topics: Robotics, Biomedicine, Design, Dynamic modeling, Emergencies, Engineering prototypes, Pulleys, Robots, Wounds
Journal Articles

Robotic Modular Leg: Design, Analysis, and Experimentation

Wael Saab, William S. Rone, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2017, 9(2): 024501.
Paper No: JMR-16-1293
https://doi.org/10.1115/1.4035685
Published Online: March 9, 2017
View Article titled, Robotic Modular Leg: Design, Analysis, and Experimentation
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Topics: Design, Engineering prototypes, Kinematics, Motors, Robotics, Robots, Trajectories (Physics), Dynamic models, Dynamics (Mechanics)
Proceedings Papers

Design and Analysis of a Miniature Modular Inchworm Robot

Wael Saab, Anil Kumar, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A060, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59386
https://doi.org/10.1115/DETC2016-59386
View Paper titled, Design and Analysis of a Miniature Modular Inchworm Robot
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Topics: Design, Robots, Anisotropy, Friction, Skin, Biomimetics, Engineering prototypes, Equations of motion, Mechanical structures, Modeling
Proceedings Papers

Design and Analysis of a Discrete Modular Serpentine Robotic Tail for Improved Performance of Mobile Robots

Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A061, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59387
https://doi.org/10.1115/DETC2016-59387
View Paper titled, Design and Analysis of a Discrete Modular Serpentine Robotic Tail for Improved Performance of Mobile Robots
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Topics: Design, Mobile robots, Robotics, Kinematics, Cables, Pulleys, Tension, Degrees of freedom, Dimensions, Engines
Proceedings Papers

Design and Analysis of a Robotic Modular Leg Mechanism

Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A062, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59388
https://doi.org/10.1115/DETC2016-59388
View Paper titled, Design and Analysis of a Robotic Modular Leg Mechanism
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Topics: Design, Robotics, Robots, Actuators, Degrees of freedom, Engineering prototypes, Engineering simulation, Simulation, Suspension systems, Weight (Mass)
Journal Articles

A Genderless Coupling Mechanism With Six-Degrees-of-Freedom Misalignment Capability for Modular Self-Reconfigurable Robots

Wael Saab, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061014.
Paper No: JMR-15-1335
https://doi.org/10.1115/1.4034014
Published Online: September 9, 2016
View Article titled, A Genderless Coupling Mechanism With Six-Degrees-of-Freedom Misalignment Capability for Modular Self-Reconfigurable Robots
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Topics: Design, Robots, Mobile robots, Torque, Simulation
Proceedings Papers

Development of a Novel Coupling Mechanism for Modular Self-Reconfigurable Mobile Robots

Wael Saab, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A007, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46659
https://doi.org/10.1115/DETC2015-46659
View Paper titled, Development of a Novel Coupling Mechanism for Modular Self-Reconfigurable Mobile Robots
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Topics: Mobile robots, Design, Robotics, Engineering simulation, Maintenance, Robustness, Simulation