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Proceedings Papers

Including Image-Based Perception in Disturbance Observer for Warehouse Drones

Zhu Chen, Xiao Liang, Minghui Zheng
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T39A005, October 5–7, 2020
Paper No: DSCC2020-3284
DOI: https://doi.org/10.1115/DSCC2020-3284
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Topics: Unmanned aerial vehicles, Warehouses, Oscillations, Grasping, Signals, Artificial neural networks, Feedback, Feedforward control
Proceedings Papers

Effect of Manipulator’s Joints Flexibility on the Positioning Precision of the End-Effector of the UVMS

Umer Hameed Shah, Mansour Karkoub, Hong-Du Wang, Deniz Kerimoglu
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T03A008, October 8–11, 2019
Paper No: DSCC2019-9077
DOI: https://doi.org/10.1115/DSCC2019-9077
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Topics: End effectors, Manipulators, Vortex-induced vibration, Drilling, Dynamics (Mechanics), Engineering simulation, Equations of motion, Fluid-dynamic forces, Grasping, Simulation
Proceedings Papers

Design and Control of a Hexacopter With Soft Grasper for Autonomous Object Detection and Grasping

Shatadal Mishra, Dangli Yang, Carly Thalman, Panagiotis Polygerinos, Wenlong Zhang
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T36A003, September 30–October 3, 2018
Paper No: DSCC2018-9107
DOI: https://doi.org/10.1115/DSCC2018-9107
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Topics: Design, Grasping, Robotics, Flight, Aerodynamics, Canals, Computers, Control equipment, Pipelines, Servomechanisms
Proceedings Papers

Design Optimization of RML Glove for Improved Grasp Performance

Teja Vanteddu, Bijo Sebastian, Pinhas Ben-Tzvi
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T07A004, September 30–October 3, 2018
Paper No: DSCC2018-9004
DOI: https://doi.org/10.1115/DSCC2018-9004
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Topics: Design, Optimization, Exoskeleton devices, Computer-aided design, Grasping, Kinematics, Linkages, Rehabilitation devices, Testing
Proceedings Papers

Grasp Force Sensing Using Visual Servoing and Fingernail Imaging

Navid Fallahinia, Sonoma Harris, Stephen Mascaro
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T04A010, September 30–October 3, 2018
Paper No: DSCC2018-9097
DOI: https://doi.org/10.1115/DSCC2018-9097
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Topics: Imaging, Visual servoing, Grasping, Errors, Robotics
Proceedings Papers

Multiform Adaptive Robot Skill Learning From Humans

Leidi Zhao, Raheem Lawhorn, Siddharth Patil, Steve Susanibar, Lu Lu, Cong Wang, Bo Ouyang
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T30A004, October 11–13, 2017
Paper No: DSCC2017-5114
DOI: https://doi.org/10.1115/DSCC2017-5114
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Topics: Robots, Robotics, Grasping, Human-robot interaction, Trains
Proceedings Papers

Effect of Parallel Compliance on Stability of Robotic Hands With Series Elastic Actuators

Prashant Rao, Taylor D. Niehues, Ashish D. Deshpande
Proc. ASME. DSCC2015, Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications, V002T27A009, October 28–30, 2015
Paper No: DSCC2015-9917
DOI: https://doi.org/10.1115/DSCC2015-9917
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Topics: Actuators, Robotics, Stability, Inertia (Mechanics), Stiffness, Design, Grasping, Robots, Tendons
Proceedings Papers

Towards a Robotic Hand Rehabilitation Exoskeleton for Stroke Therapy

Yeongjin Kim, Shing Shin Cheng, Aleksandrs Ecins, Cornelia Fermüller, Kelly P. Westlake, Jaydev P. Desai
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T04A006, October 22–24, 2014
Paper No: DSCC2014-6215
DOI: https://doi.org/10.1115/DSCC2014-6215
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Topics: End effectors, Exoskeleton devices, Patient treatment, Springs, Actuators, Cooling, Grasping, Design, Engines, Motors
Proceedings Papers

Supernumerary Robotic Fingers: An Alternative Upper-Limb Prosthesis

Faye Wu, Harry Asada
Proc. ASME. DSCC2014, Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing, V002T16A009, October 22–24, 2014
Paper No: DSCC2014-6017
DOI: https://doi.org/10.1115/DSCC2014-6017
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Topics: Prostheses, Robotics, Control algorithms, Engineering prototypes, Glass jars, Grasping, Robots, Stress
Proceedings Papers

Haptic Glove Using Compression-Induced Friction Torque

Yoshihiro Kuroda, Yu Shigeta, Masataka Imura, Yuki Uranishi, Osamu Oshiro
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T26A004, October 21–23, 2013
Paper No: DSCC2013-3866
DOI: https://doi.org/10.1115/DSCC2013-3866
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Topics: Compression, Friction, Haptics, Torque, Finger joints (Carpentry), Actuators, Engineering prototypes, Grasping, Shape memory alloys, Weight (Mass)
Proceedings Papers

Novel Design of a Passive Variable Stiffness Joint Mechanism: Inspiration From Biomechanics of Hand Joints

Pei-Hsin Kuo, Ashish D. Deshpande
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T28A003, October 21–23, 2013
Paper No: DSCC2013-3980
DOI: https://doi.org/10.1115/DSCC2013-3980
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Topics: Biomechanics, Design, Stiffness, End effectors, Engineering prototypes, Grasping, Shapes, Springs, Torque, Virtual work principle
Proceedings Papers

Kinematic Synthesis of Minimally Actuated Multi-Loop Planar Linkages With Second Order Motion Constraints for Object Grasping

Gim Song Soh, Nina Robson
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T38A004, October 21–23, 2013
Paper No: DSCC2013-4029
DOI: https://doi.org/10.1115/DSCC2013-4029
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Topics: Grasping, Kinematics, Linkages, Design, Degrees of freedom, Human-robot interaction, Kinematic chains, Robotics, Topology
Proceedings Papers

A Feed Forward Neural Network for Solving the Inverse Kinetics of Non-Constant Curvature Soft Manipulators Driven by Cables

Michele Giorelli, Federico Renda, Gabriele Ferri, Cecilia Laschi
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T38A001, October 21–23, 2013
Paper No: DSCC2013-3740
DOI: https://doi.org/10.1115/DSCC2013-3740
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Topics: Artificial neural networks, Cables, Feedforward control, Manipulators, Algorithms, Errors, Fuzzy neural nets, Grasping, Iterative methods, Jacobian matrices
Proceedings Papers

Grasp Effort Evaluation Based on Muscle Activity

Atsutoshi Ikeda, Yuichi Kurita, Tsukasa Ogasawara
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 1, 349-356, September 12–15, 2010
Paper No: DSCC2010-4120
DOI: https://doi.org/10.1115/DSCC2010-4120
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Topics: Muscle, Tendons, Simulation, Cylinders, Grasping, Simulation results
Proceedings Papers

Hovering Stability of Helicopters With Elastic Constraints

Paul E. I. Pounds, Aaron Dollar
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 2, 781-788, September 12–15, 2010
Paper No: DSCC2010-4166
DOI: https://doi.org/10.1115/DSCC2010-4166
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Topics: Helicopters, Stability, Flight, Aircraft, Dynamics (Mechanics), Control equipment, Equilibrium (Physics), Grasping, Grippers, Linkages
Proceedings Papers

Semi-Autonomous Teleoperation of Multiple Wheeled Mobile Robots Over the Internet

Dongjun Lee
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 147-154, October 20–22, 2008
Paper No: DSCC2008-2119
DOI: https://doi.org/10.1115/DSCC2008-2119
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Topics: Internet, Mobile robots, Robots, Delays, Dynamics (Mechanics), Feedback, Grasping, Haptics, Simulation, Teams