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Keywords: robotics
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Journal Articles
Publisher: ASME
Article Type: Technical Briefs
Letters Dyn. Sys. Control. April 2025, 5(2): 024501.
Paper No: ALDSC-24-1025
Published Online: November 6, 2024
...Nalaka Amarasiri; Alan A. Barhorst; Raju Gottumukkala In our previous works, Amarasiri et al. (2022, “Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot,” ASME Lett. Dyn. Sys. Control 2(4), p. 040902) and Amarasiri et al. (2024, “Investigating...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2025, 5(2): 021002.
Paper No: ALDSC-24-1011
Published Online: October 30, 2024
... strategies of both following methods and implement them in a dynamic simulation and a physical prototype. We test the performance of the two following methods and show that dynamic alignment following can reduce robot positional error and interaction force between the human and the robot. We then analyze...
Topics:
Robots
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2025, 5(2): 021001.
Paper No: ALDSC-24-1041
Published Online: October 25, 2024
...Jonathon E. Slightam; Andrew J. Steyer; Logan E. Beaver; Carol C. Young Autonomous manipulation is a challenging problem in field robotics due to uncertainty in object properties, constraints, and coupling phenomenon with robot control systems. Humans learn motion primitives over time...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2025, 5(1): 011006.
Paper No: ALDSC-24-1034
Published Online: October 16, 2024
...Ethan Lau; Vaibhav Srivastava; Shaunak D. Bopardikar We examine how a human–robot interaction (HRI) system may be designed when input–output data from previous experiments are available. Our objective is to learn an optimal impedance in the assistance design for a cooperative manipulation task...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2024, 4(4): 041006.
Paper No: ALDSC-24-1017
Published Online: October 3, 2024
... robotics Algorithm 1 GIM calculation algorithm for SMM 1: Determine m a s s , i n e r t i a with respect to body frame of each type of module used. 2: Given the s t r u c t u r e s t r i n g , a s s e m b l y p a r a m e t e r s...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2024, 4(4): 041002.
Paper No: ALDSC-24-1026
Published Online: September 27, 2024
... author. Email: kam.k.leang@utah.edu 12 07 2024 04 09 2024 08 09 2024 27 09 2024 Graphical Abstract Figure chemical sensing source localization plume tracking feedforward control autonomous systems robotics uncrewed vehicles National Science...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2024, 4(3): 031001.
Paper No: ALDSC-23-1054
Published Online: April 3, 2024
... Figure networked systems robotics pursuit-evasion games nonlinear controls cooperative control networked control systems nonlinear systems Office of Naval Research 10.13039/100000006 N00014-21-1-2415 This work analyzes the performance of multi-agent control methods...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021007.
Paper No: ALDSC-23-1074
Published Online: March 7, 2024
...Nalaka Amarasiri; Alan A. Barhorst; Raju Gottumukkala Omnidirectional locomotion provides wheeled mobile robots (WMR) with better maneuverability and flexibility, which enhances their energy efficiency and dexterity. Universal omni-wheels are one of the best categories of wheels that can be used...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021005.
Paper No: ALDSC-23-1073
Published Online: February 26, 2024
...Shail Jadav; Harish J. Palanthandalam-Madapusi The integration of robots into environments shared by humans has been enhanced through the use of redundant robots capable of executing primary tasks and secondary objectives such as obstacle avoidance and null-space impedance control. A critical...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021004.
Paper No: ALDSC-23-1061
Published Online: February 26, 2024
...Van-Tam Ngo; Yen-Chen Liu This paper introduces an adaptive control design tailored for robotic systems described by Euler–Lagrange equations under actuator saturation and partial loss of effectiveness. The adaptive law put forth not only retains conventional control properties but also extends its...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2024, 4(1): 011007.
Paper No: ALDSC-23-1077
Published Online: February 2, 2024
... Machine Tools ,” Int. J. Mach. Tool. Manuf. , 82–83 , pp. 29 – 41 . 10.1016/j.ijmachtools.2014.03.008 [3] Slamani , M. , Joubair , A. , and Bonev , I. A. , 2015 , “ A Comparative Evaluation of Three Industrial Robots Using Three Reference Measuring Techniques ,” Ind Rob , 42 ( 6...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2023, 3(4): 041005.
Paper No: ALDSC-23-1031
Published Online: December 7, 2023
...Avinash Baskaran; David S. Hollinger; Rhet O. Hailey; Michael E. Zabala; Chad G. Rose Robotic exoskeletons for the hand are being explored to improve health, safety, and physical performance. However, much research effort is needed to establish reliable models of human behavior for effective human...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2023, 3(3): 031007.
Paper No: ALDSC-23-1042
Published Online: October 31, 2023
...Bo Ying Su; Zhongqi Wei; James McCann; Wenzhen Yuan; Changliu Liu Tactile skins made from textiles enhance the robot–human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2023, 3(3): 031008.
Paper No: ALDSC-23-1046
Published Online: October 31, 2023
...Taha Yasini; Ali Pakniyat This paper studies the combined maneuver of flying and sailing for a robotic system which is referred to as a flying+sailing drone. Due to the emergence of hybrid systems behavior in tasks which involve both the flying and sailing modes, a hybrid systems formulation...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2023, 3(3): 031005.
Paper No: ALDSC-23-1047
Published Online: October 31, 2023
...N. Pushpalayam; L. Alexander; R. Rajamani This paper develops a position estimation system for a robot moving over a two-dimensional plane with three degrees-of-freedom. The position estimation system is based on an external rotating platform containing a permanent magnet and a monocular camera...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2023, 3(3): 031003.
Paper No: ALDSC-23-1024
Published Online: October 25, 2023
... stiffness of a robot and workpiece, needed to control the robot–workpiece elastic interactions, are often difficult to model and can vary due to geometry changes of the workpiece caused by large deformations and associated pose variations of the robot. The main contribution of this article is an algorithm...
Journal Articles
Computational Fluid Dynamics Modeling Analysis of a Martian Rotorcraft With Individual Blade Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2023, 3(2): 021005.
Paper No: ALDSC-23-1051
Published Online: October 13, 2023
... systems dynamics and control flight control modeling robotics unmanned vehicles vibration control Jet Propulsion Laboratory 10.13039/100006196 80NM0018D0004 The Mars Helicopter, Ingenuity, completed the first flight on another planet on April 19, 2021, and has logged over 50...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2023, 3(1): 011005.
Paper No: ALDSC-22-1033
Published Online: March 16, 2023
...Emiliano Quinones Yumbla; Dongting Li; Tolemy M. Nibi; Daniel M. Aukes; Wenlong Zhang Sensing for wearable robots is an ongoing challenge, especially given the recent trend of soft and compliant robots. Recently, a wearable origami exoshell has been designed to sense the user’s torso motion...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. January 2023, 3(1): 011002.
Paper No: ALDSC-22-1022
Published Online: February 28, 2023
...John N. Nganga; Patrick M. Wensing This letter presents approaches that reduce the computational demand of including second-order dynamics sensitivity information into optimization algorithms for robots in contact with the environment. A full second-order differential dynamic programming (DDP...
Journal Articles
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040903.
Paper No: ALDSC-22-1021
Published Online: October 25, 2022
...Tariq M. Arif; Stockton McKay; Benjamin Conklin Ball catching by a robot is one of the challenging and complex control tasks that is extensively studied to achieve human-like skills in robots. Over the last decade, several ball-catching robot designs have attained benchmarks in visual tracking...
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