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Journal Articles

Energy-Efficient Actuator Design Principles For Robotic Leg Prostheses And Exoskeletons: A Review Of Series Elasticity And Backdrivability

Brokoslaw Laschowski, John McPhee

J. Comput. Nonlinear Dynam.

Paper No: CND-22-1170

DOI: https://doi.org/10.1115/1.4056919

Published Online: February 16, 2023

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Topics: Actuators, Design, Elasticity, Energy efficiency, Exoskeleton devices, Prostheses, Robotics, Motors, Torque, Energy consumption

Journal Articles

Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns

Tamas Molnar, Katherine Tighe, Wyatt Ubellacker, Arash Kalantari, Aaron Ames

J. Comput. Nonlinear Dynam.

Paper No: CND-22-1157

DOI: https://doi.org/10.1115/1.4056659

Published Online: January 11, 2023

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Topics: Design engineering, Robots, Chemical industry, Engineering simulation, Inspection, Mechanical admittance, Path planning, Robotics, Rollers, Simulation

Journal Articles

Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems

Bálint Bodor, László Bencsik

J. Comput. Nonlinear Dynam.

Paper No: CND-22-1183

DOI: https://doi.org/10.1115/1.4056593

Published Online: January 3, 2023

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Topics: Tracking control, Trajectories (Physics), Variational principles, Optimal control, Approximation, Compliant mechanisms, Degrees of freedom, Dynamics (Mechanics), Manipulators, Optimization

Journal Articles

Adaptive Uncertainty Estimator-Based Sliding Mode Control for a Spherical Robot: Methodology and Verification

Lufeng Zhang, Xuemei Ren, Dongdong Zheng

J. Comput. Nonlinear Dynam. October 2022, 17(10): 101002.

Paper No: CND-21-1379

DOI: https://doi.org/10.1115/1.4054593

Published Online: June 7, 2022

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Topics: Control equipment, Errors, Pendulums, Robots, Sliding mode control, Spherical shells, Uncertainty, Design

Journal Articles

Special Issue: Selected Papers From 2021 IDETC-CIE MSND Conference

José L. Escalona, Sachin Goyal, Radu Serban, Wei-Che Tai

J. Comput. Nonlinear Dynam. May 2022, 17(5): 050301.

Paper No: CND-22-1038

DOI: https://doi.org/10.1115/1.4054104

Published Online: March 28, 2022

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Topics: Multibody systems, Nonlinear dynamics, Computers and information in engineering , Computational methods, Computers, Delays, Design engineering, Dynamics (Mechanics), Machine learning, Modeling

Journal Articles

A Backpropagation Learning Method for Dynamic Parameter Identification of Industrial Robots

Tie Zhang, Jinsheng Xu, Yanbiao Zou

J. Comput. Nonlinear Dynam. June 2022, 17(6): 061006.

Paper No: CND-21-1225

DOI: https://doi.org/10.1115/1.4053934

Published Online: March 25, 2022

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Topics: Algorithms, Dynamic models, Errors, Friction, Particle swarm optimization, Robots, Torque, Trajectories (Physics), Excitation, Inertia (Mechanics)

Journal Articles

Modeling of Robot's Low-Speed Motion Nonlinear Dynamics Based on Phase Space Reconstruction Neural Network

Tie Zhang, Xiaohong Liang, Yanbiao Zou

J. Comput. Nonlinear Dynam. September 2021, 16(9): 091003.

Paper No: CND-21-1071

DOI: https://doi.org/10.1115/1.4051337

Published Online: July 8, 2021

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Topics: Artificial neural networks, Friction, Motors, Phase space, Torque, Engines, Nonlinear dynamics, Robots, Modeling, Rotation

Journal Articles

Predictive Trajectory Tracking Algorithm of Underactuated Systems Based on the Calculus of Variations

Bálint Bodor, Ambrus Zelei, László Bencsik

J. Comput. Nonlinear Dynam. August 2021, 16(8): 081002.

Paper No: CND-20-1140

DOI: https://doi.org/10.1115/1.4051168

Published Online: June 16, 2021

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Topics: Algorithms, Control equipment, Errors, Manipulators, Optimization, Simulation, Trajectories (Physics), Actuators, Dynamics (Mechanics), Equations of motion

Journal Articles

Time-Optimal Control of Dynamic Systems Regarding Final Constraints

Philipp Eichmeir, Karin Nachbagauer, Thomas Lauß, Karim Sherif, Wolfgang Steiner

J. Comput. Nonlinear Dynam. March 2021, 16(3): 031003.

Paper No: CND-20-1290

DOI: https://doi.org/10.1115/1.4049334

Published Online: January 22, 2021

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Topics: Algorithms, Boundary-value problems, Differential equations, Dynamic systems, Errors, Optimal control, Optimization, Robots, Time optimal control, Pendulums

Journal Articles

A Detailed Look at the SLIP Model Dynamics: Bifurcations, Chaotic Behavior, and Fractal Basins of Attraction

Petr Zaytsev, Tom Cnops, C. David Remy

J. Comput. Nonlinear Dynam. August 2019, 14(8): 081002.

Paper No: CND-18-1416

DOI: https://doi.org/10.1115/1.4043453

Published Online: May 13, 2019

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Topics: Bifurcation, Dynamics (Mechanics), Energy levels (Quantum mechanics), Flight, Fractals, Pendulums, Robots, Springs, Poincaré maps, Stability

Journal Articles

Output Feedback Fractional Integral Sliding Mode Control of Robotic Manipulators

Aldo Jonathan Muñoz-Vázquez, Fernando Martínez-Reyes

J. Comput. Nonlinear Dynam. May 2019, 14(5): 054502.

Paper No: CND-18-1372

DOI: https://doi.org/10.1115/1.4043000

Published Online: March 14, 2019

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Topics: Control equipment, Feedback, Manipulators, Simulation, Sliding mode control, Uncertainty, Robots, Design

Journal Articles

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

Vo Anh Tuan, Hee-Jun Kang

J. Comput. Nonlinear Dynam. March 2019, 14(3): 031002.

Paper No: CND-18-1101

DOI: https://doi.org/10.1115/1.4042293

Published Online: January 11, 2019

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Topics: Design, Errors, Manipulators, Sliding mode control, Uncertainty, Robots, Stability, Trajectories (Physics), Simulation, Robustness

Journal Articles

Multiple Dynamic Response Patterns of Flexible Multibody Systems With Random Uncertain Parameters

Zhe Wang, Qiang Tian, Haiyan Hu

J. Comput. Nonlinear Dynam. February 2019, 14(2): 021008.

Paper No: CND-18-1231

DOI: https://doi.org/10.1115/1.4041580

Published Online: January 7, 2019

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Topics: Computation, Dynamic response, Dynamics (Mechanics), Multibody systems, Polynomials, Algorithms, Robots, Chaos, Displacement

Journal Articles

Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory

B. Sandeep Reddy, Ashitava Ghosal

J. Comput. Nonlinear Dynam. July 2018, 13(7): 074501.

Paper No: CND-17-1524

DOI: https://doi.org/10.1115/1.4040022

Published Online: May 17, 2018

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Topics: Control equipment, Robots, Stability, Trajectories (Physics), Computer simulation, Robustness

Journal Articles

Process Parameter Optimization of a Mobile Robotic Percussive Riveting System With Flexible Joints

Yuwen Li, Jiancheng Ji, Shuai Guo, Fengfeng (Jeff) Xi

J. Comput. Nonlinear Dynam. November 2017, 12(6): 061005.

Paper No: CND-16-1486

DOI: https://doi.org/10.1115/1.4036196

Published Online: September 7, 2017

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Topics: Optimization, Riveting, Rivets, Robotics, Robots, Aerospace industry, Structural dynamics, End effectors, Manufacturing, Vibration

Journal Articles

Handling Actuator Saturation as Underactuation: Case Study With Acroboter Service Robot

Ambrus Zelei, László Bencsik, Gábor Stépán

J. Comput. Nonlinear Dynam. May 2017, 12(3): 031011.

Paper No: CND-16-1237

DOI: https://doi.org/10.1115/1.4034868

Published Online: December 5, 2016

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Topics: Actuators, Dynamics (Mechanics), Multibody systems, Robots, Dimensions, Control algorithms, Robotics

Journal Articles

The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics

Thomas Lauß, Stefan Oberpeilsteiner, Wolfgang Steiner, Karin Nachbagauer

J. Comput. Nonlinear Dynam. May 2017, 12(3): 031016.

Paper No: CND-16-1336

DOI: https://doi.org/10.1115/1.4035197

Published Online: December 5, 2016

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Topics: Computation, Equations of motion, Interpolation, Multibody dynamics, Multibody systems, Optimization, Trajectories (Physics), Robots, Algorithms, Signals

Journal Articles

Asymptotic Stability and Chaotic Motions in Trajectory Following Feedback Controlled Robots

B. Sandeep Reddy, Ashitava Ghosal

J. Comput. Nonlinear Dynam. September 2016, 11(5): 051012.

Paper No: CND-15-1325

DOI: https://doi.org/10.1115/1.4032389

Published Online: February 3, 2016

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Topics: Robots, Stability, Control equipment, Trajectories (Physics), Feedback, Chaos, Flow (Dynamics)

Journal Articles

Motion Planning for an Underactuated Planar Robot in a Viscous Environment

Elie Shammas, Daniel Asmar

J. Comput. Nonlinear Dynam. September 2015, 10(5): 051002.

Paper No: CND-13-1159

DOI: https://doi.org/10.1115/1.4029509

Published Online: September 1, 2015

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Topics: Equations of motion, Friction, Path planning, Fibers, Robots, Design

Journal Articles

Natural Frequency Computation of Parallel Robots

Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger

J. Comput. Nonlinear Dynam. March 2015, 10(2): 021004.

Paper No: CND-13-1194

DOI: https://doi.org/10.1115/1.4028573

Published Online: March 1, 2015

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Topics: Computation, Robots, Stiffness, Tree (Data structure)

Journal citation

NARROW

Manuscript

Energy-Efficient Actuator Design Principles For Robotic Leg Prostheses And Exoskeletons: A Review Of Series Elasticity And Backdrivability

Mechanical Design, Planning, and Control for Legged Robots in Distillation Columns

Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems

Adaptive Uncertainty Estimator-Based Sliding Mode Control for a Spherical Robot: Methodology and Verification

Special Issue: Selected Papers From 2021 IDETC-CIE MSND Conference

A Backpropagation Learning Method for Dynamic Parameter Identification of Industrial Robots

Modeling of Robot's Low-Speed Motion Nonlinear Dynamics Based on Phase Space Reconstruction Neural Network

Predictive Trajectory Tracking Algorithm of Underactuated Systems Based on the Calculus of Variations

Time-Optimal Control of Dynamic Systems Regarding Final Constraints

A Detailed Look at the SLIP Model Dynamics: Bifurcations, Chaotic Behavior, and Fractal Basins of Attraction

Output Feedback Fractional Integral Sliding Mode Control of Robotic Manipulators

A New Finite Time Control Solution for Robotic Manipulators Based on Nonsingular Fast Terminal Sliding Variables and the Adaptive Super-Twisting Scheme

Multiple Dynamic Response Patterns of Flexible Multibody Systems With Random Uncertain Parameters

Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory

Process Parameter Optimization of a Mobile Robotic Percussive Riveting System With Flexible Joints

Handling Actuator Saturation as Underactuation: Case Study With Acroboter Service Robot

The Discrete Adjoint Gradient Computation for Optimization Problems in Multibody Dynamics

Asymptotic Stability and Chaotic Motions in Trajectory Following Feedback Controlled Robots

Motion Planning for an Underactuated Planar Robot in a Viscous Environment

Natural Frequency Computation of Parallel Robots

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