Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

Algorithmic Selection of Sliding–Sticking Contacts in Robotic In-hand Manipulation


The paper describes a kinematic method for robotic in-hand manipulation of objects. The method focuses on repositioning the object using a combination of sticking and sliding robotic contacts. Two fingertips with sliding contacts are fixed in space while the remaining two fingertips actively manipulate the object without a change in the point of contact with the object. When sliding over two fixed contacts, the object is constrained to a “three-parameter twist space” if it is not programmed to rotate about the line joining the two fixed contacts. A gradient-descent-based kinematic algorithm is developed to project the desired twist to the allowable twist space, generating a movement sequence of robotic fingertips. The transition from fixed support vis-á-vis the sticking contacts for manipulating the object also emerges from the algorithm.

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