Special Section: Mobile Robots and Unmanned Ground Vehicles

Inspired by the fifth-year anniversary celebration of the homonymous symposium at the International Mechanical Engineering Congress & Exposition (IMECE), this Special Section with ten articles shares the latest research efforts in design, theory, development, and applications for mobile robots and unmanned ground vehicles. Read More Journal of Mechanisms and Robotics Open Issues

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Abstract In this paper, the concept of underactuated redundancy is presented using a novel spatial two-degrees-of-freedom (2-DoF) gravity-balanced rotational manipulator, composed of movable counterweights. The proposed kinematic arrangement makes it possible to intuitively manipulate a payload undergoing 3-DoF spatial rotations by adding a third rotational axis oriented in the direction of gravity. The static equilibrium […]

Soft Robot Based on Hyperelastic Buckling Controlled by Discontinuous Magnetic Field

Abstract Most untethered magnetic soft robots are controlled by a continuously applied magnetic field. The accuracy of their motion depends completely on the accuracy of external magnetic field, consequently any slight disturbance may cause a dramatic change. Here, we report a new structure and driven method design to achieve a novel magnetic soft robot, denoted […]

A Simple Physical Model for Control of an Propellerless Aquatic Robot

Abstract This paper is concerned with the motion of an aquatic robot whose body has the form of a sharp-edged foil. The robot is propelled by rotating the internal rotor without shell deformation. The motion of the robot is described by a finite-dimensional mathematical model derived from physical considerations. This model takes into account the […]

Experimentally Identified Models of McKibben Soft Actuators as Primary Movers and Passive Structures

Abstract Soft robots join body and actuation, forming their structure from the same elements that induce motion. Soft actuators are commonly modeled or characterized as primary movers, but their second role as support structure introduces strain–pressure combinations outside of normal actuation. This article examines a more complete set of possible strain–pressure combinations for McKibben actuators, […]

Autonomous Docking of Hybrid-Wheeled Modular Robots With an Integrated Active Genderless Docking Mechanism

Abstract This paper presents a self-reconfigurable modular robot with an integrated two degrees-of-freedom (DOF) active docking mechanism. Active docking in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of large systems. This feature enables reconfigurable modular robotic systems to […]

Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

Abstract This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred to as X-joints. Each X-joint is a tensegrity one-degree-of-freedom mechanism antagonistically actuated with cables and springs in parallel. As compared to manipulators built with simple revolute joints in series, manipulators with tensegrity X-joint offer a […]

The Series Elastic Gripper Design, Object Detection, and Recognition by Touch

Abstract In recent years, robotic applications have been improved for better object manipulation and collaboration with human. With this motivation, the detection of objects has been studied with a series elastic parallel gripper by simple touching in case of no visual data available. A series elastic gripper, capable of detecting geometric properties of objects, is […]