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.

Quadrupedal Human-Assistive Robotic Platform (Q-HARP): Design, Control, and Preliminary Testing


With the rapid expansion of older adult populations around the world, mobility impairment is becoming an increasingly challenging issue. For the assistance of individuals with mobility impairments, there are two major types of tools in the current practice, including the passive (unpowered) walking aids (canes, walkers, rollators, etc.) and wheelchairs (powered and unpowered). Despite their extensive use, there are significant weaknesses that affect their effectiveness in daily use, especially when challenging uneven terrains are encountered. To address these issues, the authors developed a novel robotic platform intended for the assistance of mobility-challenged individuals. Unlike the existing assistive robots serving similar purposes, the proposed robot, namely, quadrupedal human-assistive robotic platform (Q-HARP), utilizes legged locomotion to provide an unprecedented potential to adapt to a wide variety of challenging terrains, many of which are common in people’s daily life (e.g., roadside curbs and the few steps leading to a front door). In this paper, the design of the robot is presented, including the overall structure of the robot and the design details of the actuated robotic leg joints. For the motion control of the robot, a joint trajectory generator is formulated, with the purpose of generating a stable walking gait to provide reliable support to its human user in the robot’s future application. The Q-HARP robot and its control system were experimentally tested, and the results demonstrated that the robot was able to provide a smooth gait during walking.

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