Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamic Modeling and Simulation of a Hybrid Robot
    by Shen N, Yuan H, Li J, et al. on May 12, 2022 at 12:00 am

    AbstractThe unique structure of hybrid robot makes its dynamic characteristic different from that of the traditional machine tools. Therefore, the dynamic model is crucial to both designing and application of hybrid robot. In this paper, a new type of five-degrees-of-freedom (5DoF) hybrid robot is introduced, and its dynamic model is established. First, the kinematic formulas are derived for all the component, and then, the inertia forces or moments are calculated. Second, the active forces or moments in the joints are assumed as variables and the number of variables is reduced by analyzing joint types. Then, an equation set of 36 equilibrium equations with 38 variables is obtained using D'Alembert's principle. Based on the spatial deformation compatibility analysis of two branches, two supplementary equations are derived to determine the solution of dynamic model of the hybrid robot with redundant constraints in its parallel mechanism. Several cases are studied by comparing with ADAMS simulation. The result shows the good accuracy of the proposed dynamic model, which provides a practical method to calculate the reaction force or moment in any joint at any instant for the hybrid robot and thus facilitates dimensional synthesis, trajectory optimization, and smoothing control.

  • Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
    by Soliman A, Ribeiro GA, Gan D, et al. on May 12, 2022 at 12:00 am

    AbstractDesign and control of lower extremity robotic prostheses are iterative tasks that would greatly benefit from testing platforms that would autonomously replicate realistic gait conditions. This paper presents the design of a novel mobile 3-degree-of-freedom (DOF) parallel manipulator integrated with a mobile base to emulate human gait for lower limb prosthesis evaluation in the sagittal plane. The integrated mobile base provides a wider workspace range of motion along the gait direction and reduces the requirement of the parallel manipulator’s actuators and links. The parallel manipulator design is optimal to generate the defined gait trajectories with both motion and force requirements using commercially available linear actuators. An integrated active force control with proportional integral derivative (PID) control provided more desirable control compared to traditional PID control in terms of error reduction. The novelty of the work includes the methodology of human data-oriented optimal mechanism design and the concept of a mobile parallel robot to extend the translational workspace of the parallel manipulator with substantially reduced actuator requirements, allowing the evaluation of prostheses in instrumented walkways or integrated with instrumented treadmills.

  • Announcing the 2021 Best Paper Award and Honorable Mention
    by Krovi V. on May 12, 2022 at 12:00 am

    Together with the Editorial Board of the Journal of Mechanisms and Robotics (JMR), I am pleased to announce the winner of the journal's 2021 Best Paper Award:P. Reinier Kuppens, Miguel A. Bessa, Just L. Herder, and Jonathan B. Hopkins, 2021, “Compliant Mechanisms That Use Static Balancing to Achieve Dramatically Different States of Stiffness,” ASME J. Mech. Robot., 13(2), p. 021010. https://doi.org/10.1115/1.4049438

Stability Region-Based Analysis of Walking and Push Recovery Control

Abstract

To achieve walking and push recovery successfully, a biped robot must be able to determine if it can maintain its current contact configuration or transition into another one without falling. In this study, the ability of a humanoid robot to maintain single support (SS) or double support (DS) contact and to achieve a step are represented by balanced and steppable regions, respectively, as proposed partitions of an augmented center-of-mass-state space. These regions are constructed with an optimization method that incorporates full-order system dynamics, system properties such as kinematic and actuation limits, and contact interactions with the environment in the two-dimensional sagittal plane. The SS balanced, DS balanced, and steppable regions are obtained for both experimental and simulated walking trajectories of the robot with and without the swing foot velocity constraint to evaluate the contribution of the swing leg momentum. A comparative analysis against one-step capturability, the ability of a biped to come to a stop after one step, demonstrates that the computed steppable region significantly exceeds the one-step capturability of an equivalent reduced-order model. The use of balanced regions to characterize the full balance capability criteria of the system and benchmark controllers is demonstrated with three push recovery controllers. The implemented hip–knee–ankle controller resulted in improved stabilization with respect to decreased foot tipping and time required to balance, relative to an existing hip–ankle controller and a gyro balance feedback controller.
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