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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

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054502.
Paper No: JMR-22-1110
https://doi.org/10.1115/1.4055999
Published Online: November 25, 2022
View Article titled, Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
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Topics: Deformation, Dynamics (Mechanics), Inertia (Mechanics), Pendulums, Stiffness, Potential energy, Rotation, Springs, Damping, Dampers
Journal Articles

Cosimulation and Control of a Single-Wheel Pendulum Mobile Robot

Mario E. Herrera-Cordero, Manuel Arias-Montiel, Marco Ceccarelli, Esther Lugo-Gonzalez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050909.
Paper No: JMR-21-1128
https://doi.org/10.1115/1.4051359
Published Online: July 6, 2021
View Article titled, Cosimulation and Control of a Single-Wheel Pendulum Mobile Robot
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Topics: Design, Engineering prototypes, Mobile robots, Pendulums, Robots, Wheels, Transfer functions, Torque, Dynamics (Mechanics)
Journal Articles

Design and Performance Evaluation of a Spherical Robot Assisted by High-Speed Rotating Flywheels for Self-Stabilization and Obstacle Surmounting

Yibo Hu, Yanding Wei, Mengnan Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061001.
Paper No: JMR-20-1374
https://doi.org/10.1115/1.4050623
Published Online: May 20, 2021
View Article titled, Design and Performance Evaluation of a Spherical Robot Assisted by High-Speed Rotating Flywheels for Self-Stabilization and Obstacle Surmounting
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Topics: Flywheels, Pendulums, Robots, Design, Brakes
Journal Articles

Differential Noncircular Pulleys for Cable Robots and Static Balancing

Dmitri Fedorov, Lionel Birglen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2018, 10(6): 061001.
Paper No: JMR-18-1051
https://doi.org/10.1115/1.4041213
Published Online: September 7, 2018
View Article titled, Differential Noncircular Pulleys for Cable Robots and Static Balancing
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Topics: Cables, Pulleys, Robots, Rotation, Pendulums
Journal Articles

Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion

Bob G. Bijlsma, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061003.
Paper No: JMR-16-1260
https://doi.org/10.1115/1.4037616
Published Online: September 18, 2017
View Article titled, Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion
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Topics: Design, Gears, Pendulums, Gravity (Force)
Journal Articles

Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions

Juan De la Fuente, Thomas G. Sugar, Sangram Redkar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2017, 9(2): 024502.
Paper No: JMR-16-1296
https://doi.org/10.1115/1.4036023
Published Online: March 9, 2017
View Article titled, Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions
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Topics: Control equipment, Limit cycles, Noise (Sound), Oscillations, Pendulums, Simulation, Damping, Trajectories (Physics), Signals, Robots
Journal Articles

Design for Control of Wheeled Inverted Pendulum Platforms

Hari Vasudevan, Aaron M. Dollar, John B. Morrell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041005.
Paper No: JMR-13-1162
https://doi.org/10.1115/1.4029401
Published Online: November 1, 2015
View Article titled, Design for Control of Wheeled Inverted Pendulum Platforms
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Topics: Design, Limit cycles, Motors, Simulation, Tires, Wheels, Pendulums, Damping, Torque
Journal Articles

Comparison of Various Dynamic Balancing Principles Regarding Additional Mass and Additional Inertia

Volkert van der Wijk, Just L. Herder, Bram Demeulenaere
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2009, 1(4): 041006.
https://doi.org/10.1115/1.3211022
Published Online: September 17, 2009
View Article titled, Comparison of Various Dynamic Balancing Principles Regarding Additional Mass and Additional Inertia
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Topics: Inertia (Mechanics), Pendulums