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Journal Articles

A Novel Transformable Leg-Wheel Mechanism

Accepted Manuscript
Zhong Wei, Peng Ping, Yong Luo, Jia Liu, Dapeng Chen, Weixi Wang, Huiyu Sun, Aiguo Song, Guangming Song
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1164
DOI: https://doi.org/10.1115/1.4057069
Published Online: March 7, 2023
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Topics: Design, Wheels, Actuators, Robots, Biomimetics, Gears, Inertia (Mechanics), Kinematics, Knee, Legged locomotion
Journal Articles

Self-Adaptive Obstacle Crossing of an AntiBot From Reconfiguration Control and Mechanical Adaptation

Zhen Song, Zirong Luo, Guowu Wei, Jianzhong Shang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021002.
Paper No: JMR-22-1311
DOI: https://doi.org/10.1115/1.4056601
Published Online: March 3, 2023
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Topics: Robots, Wheels
Journal Articles

WheTLHLoc: Small-Scale Hybrid Locomotion Robot With Stair Climbing Capability

Luca Bruzzone, Shahab Edin Nodehi, Dario De Domenico, Pietro Fanghella
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021007.
Paper No: JMR-22-1232
DOI: https://doi.org/10.1115/1.4056770
Published Online: March 3, 2023
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Topics: Robots, Wheels, Stability, Stairs
Journal Articles

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011002.
Paper No: JMR-22-1436
DOI: https://doi.org/10.1115/1.4056711
Published Online: March 3, 2023
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Topics: Design, Robots, Wheels, Torque, Kinematics
Journal Articles

A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

Wenqian Du, Mohamed Fnadi, Faïz Benamar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041005.
Paper No: JMR-22-1146
DOI: https://doi.org/10.1115/1.4055060
Published Online: November 10, 2022
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Topics: Control equipment, Dynamics (Mechanics), Generators, Robots, Torque, Wheels, Kinematics, Surface roughness, Geometry
Journal Articles

Design and Control of a Foldable and Reconfigurable Multi-Terrain Vehicle With Variable Wheelbase

Chenyang Zhang, Guangrong Chen, Zijia Li, Xiaohang Qiu, Sheng Guo
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2023, 15(2): 024501.
Paper No: JMR-21-1681
DOI: https://doi.org/10.1115/1.4054616
Published Online: June 21, 2022
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Topics: Vehicles, Wheelbase, Design, Wheels, Steering wheels, Simulation, Kinematics
Journal Articles

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

Dongming Gan, Jiaming Fu, Han Lin, Haoguang Yang, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041005.
Paper No: JMR-21-1535
DOI: https://doi.org/10.1115/1.4053821
Published Online: March 24, 2022
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Mobile robots, Robots, Wheels, Actuators, Rotation, Parallel mechanisms
Journal Articles

A Portable Six-Wheeled Mobile Robot With Reconfigurable Body and Self-Adaptable Obstacle-Climbing Mechanisms

Zhen Song, Zirong Luo, Guowu Wei, Jianzhong Shang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051010.
Paper No: JMR-21-1482
DOI: https://doi.org/10.1115/1.4053529
Published Online: March 4, 2022
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Topics: Robots, Wheels, Mobile robots
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
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050909.
Paper No: JMR-21-1128
DOI: https://doi.org/10.1115/1.4051359
Published Online: July 6, 2021
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Topics: Design, Engineering prototypes, Mobile robots, Pendulums, Robots, Wheels, Transfer functions, Torque, Dynamics (Mechanics)
Journal Articles

Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments

Antonio Cardenas, Osmar Quiroz, Ricardo Hernández, Hugo I. Medellin-Castillo, Alejandro González, Mauro Maya, Davide Piovesan
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050908.
Paper No: JMR-21-1042
DOI: https://doi.org/10.1115/1.4051437
Published Online: July 6, 2021
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Topics: Kinematics, Manipulators, Mobile robots, Robots, Trajectories (Physics), Wheels, Pallets, Degrees of freedom, Robotics
Journal Articles

Design of Robotic Motion Platform Utilizing Continuous Contact Skating

Rajesh Kumar, Varan Gupta, Shantnav Agarwal, Jitendra P. Khatait
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061009.
Paper No: JMR-20-1427
DOI: https://doi.org/10.1115/1.4050827
Published Online: June 4, 2021
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Topics: Creep, Design, Engineering prototypes, Kinematics, Matlab, Robotics, Robots, Rollers, Simulation, Wheels
Journal Articles

Genetic Algorithm-Based Optimal Design of a Rolling-Flying Vehicle

Tyler Jenkins, Stefan Atay, Gregory Buckner, Matthew Bryant
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2021, 13(5): 050907.
Paper No: JMR-20-1478
DOI: https://doi.org/10.1115/1.4050811
Published Online: June 3, 2021
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Topics: Design, Motors, Propellers, Vehicles, Batteries, Engines, Rotors, Wheels
Journal Articles

A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

Chao Liu, Tarik Tosun, Mark Yim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061004.
Paper No: JMR-20-1210
DOI: https://doi.org/10.1115/1.4050249
Published Online: May 31, 2021
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Topics: Kalman filters, Sensors, Wheels, Robots, Manufacturing
Journal Articles

Data-Driven Analysis of Locomotion for a Class of Articulated Mobile Robots

Luca Carbonari, Andrea Botta, Paride Cavallone, Luigi Tagliavini, Giuseppe Quaglia
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050905.
Paper No: JMR-21-1063
DOI: https://doi.org/10.1115/1.4051018
Published Online: May 19, 2021
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Topics: Kinematics, Mobile robots, Robots, Wheels, Dynamics (Mechanics), Motors
Journal Articles

Increasing Mobile Robot Efficiency and Versatility Through Manipulation-Driven Adaptation

Raymond Kim, Varun Madabushi, Eric Dong, Anirban Mazumdar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050906.
Paper No: JMR-21-1040
DOI: https://doi.org/10.1115/1.4051094
Published Online: May 19, 2021
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Topics: Design, Manipulators, Robots, Vehicles, Wheels, Mobile robots, Permanent magnets, Actuators
Journal Articles

Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study

Francisco Yandun, Miguel Torres-Torriti, Fernando Auat Cheein
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050902.
Paper No: JMR-21-1027
DOI: https://doi.org/10.1115/1.4051016
Published Online: May 17, 2021
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Topics: Algorithms, Calibration, Chain, Errors, Kinematics, Mobile robots, Parameter estimation, Robot motion, Robots, Sensors
Journal Articles

Design and Kinematic Analysis of a Flexible-Link Parallel Mechanism With a Spatially Quasi-Translational End Effector

Hao Pan, Genliang Chen, Yezheng Kang, Hao Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011022.
Paper No: JMR-20-1144
DOI: https://doi.org/10.1115/1.4048754
Published Online: November 19, 2020
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Topics: Design, End effectors, Kinematics, Parallel mechanisms, Rods, Deformation, Wheels
Journal Articles

Design and Posture Control of a Wheel-Legged Robot With Actively Passively Transformable Suspension System

Liwei Ni, Fangwu Ma, Linhe Ge, Liang Wu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011014.
Paper No: JMR-19-1488
DOI: https://doi.org/10.1115/1.4048226
Published Online: October 22, 2020
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Topics: Actuators, Damping, Design, Robots, Simulation, Suspension systems, Wheels, Springs, Control equipment, Vibration isolation
Journal Articles

Kinematic Analysis of the Planar Motion of Vehicles when Traveling Along Tractrix Curves

Giorgio Figliolini, Chiara Lanni, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2020, 12(5): 054502.
Paper No: JMR-19-1149
DOI: https://doi.org/10.1115/1.4046509
Published Online: April 13, 2020
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Topics: Kinematic analysis, Vehicles, Wheels, Kinematics, Bicycles, Traffic circles
Journal Articles

A Hybrid Tracked-Wheeled Multi-Directional Mobile Robot

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