Latest Papers

ASME Journal of Mechanisms and Robotics

  • Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
    on January 25, 2023 at 12:00 am

    AbstractAn enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees of freedom. The method exploits the concept of partitioning the independent coordinates into actuated and unactuated ones (through a QR-decomposition) and of linearly combined output, to obtain the internal dynamics of the nonminimum-phase system and then to stabilize it through proper output redefinition. Then, the exact algebraic model of the actuated sub-system is inverted, leading to the desired control forces with just minor approximations and no need for pre-actuation. The effectiveness of the proposed approach is assessed by three numerical test cases, by comparing it with some meaningful benchmarks taken from the literature. Finally, experimental verification through an underactuated robotic arm with two degrees of freedom is performed.

Reprogrammable Kinematic Branches in Tessellated Origami Structures


We analyze the folding kinematics of a recently proposed origami-based tessellated structure called the Morph pattern, using thin, rigid panel assumptions. We discuss the geometry of the Morph unit cell that can exist in two characteristic modes differing in the mountain/valley assignment of a degree-four vertex and explain how a single tessellation of the Morph structure can undergo morphing through rigid origami kinematics resulting in multiple hybrid states. We describe the kinematics of the tessellated Morph pattern through multiple branches, each path leading to different sets of hybrid states. We study the kinematics of the tessellated structure through local and global Poisson’s ratios and derive an analytical condition for which the global ratio switches between negative and positive values. We show that the interplay between the local and global kinematics results in folding deformations in which the hybrid states are either locked in their current modes or are transformable to other modes of the kinematic branches, leading to a reprogrammable morphing behavior of the system. Finally, using a bar-and-hinge model-based numerical framework, we simulate the nonlinear folding behavior of the hybrid systems and verify the deformation characteristics that are predicted analytically.
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