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Keywords: robotics
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Proceedings Papers

Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A042, August 17–19, 2021
Paper No: DETC2021-68928
...Abstract Abstract In robotics the risk of collisions is present both in industrial applications and in remote handling. If a collision occurs, the impact may damage both the robot and external equipment, which may result in successive imprecise robot tasks or line stops, reducing robot...
Proceedings Papers

Proc. ASME. IDETC-CIE2021, Volume 7: 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), V007T07A035, August 17–19, 2021
Paper No: DETC2021-68464
... drone imagery; deployment of wireless solar powered soil moisture sensor network on a field with subsurface drip and fertigation capability; and development of a sustainable platform integrated with a Cartesian robotic device powered by solar and wind energy that can seed, weed, irrigate, and capture...
Proceedings Papers

Proc. ASME. DETC94, 20th Design Automation Conference: Volume 1 — Dynamic Mechanical Systems; Geometric Modeling and Features; Concurrent Engineering, 7-14, September 11–14, 1994
Paper No: DETC1994-0041
... as a whole, only local knowledge is needed for path construction. 3D motion planning path planning robotics solid modeling interference index DE-Vol. 69-L Advances in Design Automation - 1994 Volume 1 ASME 1994 PATH PLANNING FOR SPHERES IN THREE DIMENSIONAL ENVIRONMENTS WITH LOW INTERFERENCE...
Topics: Path planning
Proceedings Papers

Proc. ASME. CIE95, ASME 1995 15th International Computers in Engineering Conference and the ASME 1995 9th Annual Engineering Database Symposium, 967-972, September 17–20, 1995
Paper No: CIE1995-0826
... solid modeling Brep CSG and extended octree robotics kinematic modeling and simulation effective space object intersection collision control and avoidance Proceedings of the Computers in Engineering Conference and the Engineering Database Symposium ASME 1995 COLLISION CONTROL...
Proceedings Papers

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 247-259, September 12–16, 1999
Paper No: DETC99/DAC-8585
...Proceedings of the 1999 ASME Design Engineering Technical Conferences September 12-15, 1999, Las Vegas, Nevada DETC99/DAC-8585 TOUCH RECOGNITION USING A PASSIVE LARGE COMPLIANCE ROBOTIC FINGER WITH INTERNAL SENSORS FOR PLANAR APPLICATIONS Dennis W. Hong School of Mechanical Engineering Purdue...
Topics: Robotics, Sensors
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 503-510, September 10–13, 2000
Paper No: DETC2000/MECH-14099
... and orientation of the movable plate are prescribed. A numerical procedure has been deduced to solve design parameters by using analytical formulation of Direct and Inverse Kinematics for CaPaMan architecture. robotics parallel manipulators workspace design Proceedings of DETC'OO: ASME 2000 Design...
Proceedings Papers

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1363-1369, September 10–13, 2000
Paper No: DETC2000/MECH-14203
...Abstract Abstract In this paper, the application of Rapid Prototyping in the fabrication of a robotic hand is presented. Using the Selective Laser Sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The designs...
Proceedings Papers

Proc. ASME. IDETC-CIE2001, Volume 2B: 27th Design Automation Conference, 985-996, September 9–12, 2001
Paper No: DETC2001/DAC-21116
...Abstract Abstract A systematic method is presented for optimal integration of smart actuators into the structure of robot manipulators for the purpose of enabling them to perform smooth object manipulation with smooth actuated joint motions. Here, the motions are considered to be smooth...
Proceedings Papers

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A005, August 17–19, 2020
Paper No: DETC2020-22192
... yielded a good match to the desired elastic behavior. Keywords: Robotics, Compliance, Antagonistic, Variable Stiffness Actuators 1. INTRODUCTION Robotic compliance is a key area of research due to its importance in both improved performance of robotic manipulators in a range of manipulation tasks...
Proceedings Papers

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A070, August 17–19, 2020
Paper No: DETC2020-22606
... resources in a more timely manner offers a benefit to human rescue missions. This paper presents an innovative robotic landing system consisting of three slanted legs, each individually controlled by a motor. The footpad of each leg has an integrated force sensor for detecting ground touch. An inclinometer...
Proceedings Papers

Proc. ASME. IDETC-CIE2020, Volume 11B: 46th Design Automation Conference (DAC), V11BT11A036, August 17–19, 2020
Paper No: DETC2020-22014
...Abstract Abstract Model-free reinforcement learning based methods such as Proximal Policy Optimization, or Q-learning typically require thousands of interactions with the environment to approximate the optimal controller which may not always be feasible in robotics due to safety and time...
Proceedings Papers

Proc. ASME. IDETC-CIE2019, Volume 1: 39th Computers and Information in Engineering Conference, V001T02A044, August 18–21, 2019
Paper No: DETC2019-97223
... movement for personalizing robotic devices and interventions. This study attempts to review technologies used in upper extremity rehabilitation on two aspects: computer models and robotic devices. A summary of existing virtual upper extremity models is provided. As well, different robotic devices...
Topics: Robotics
Proceedings Papers

Proc. ASME. IDETC-CIE2013, Volume 2B: 33rd Computers and Information in Engineering Conference, V02BT02A029, August 4–7, 2013
Paper No: DETC2013-13441
...INTERACTING WITH A LARGE VIRTUAL ENVIRONMENT BY COMBINING A GROUND-BASED HAPTIC DEVICE AND A MOBILE ROBOT BASE Ryan A. Pavlik Human-Computer Interaction Graduate Program Virtual Reality Application Center Iowa State University Ames, Iowa 50011 Email: rpavlik@iastate.edu Judy M. Vance Greg R...
Proceedings Papers

Proc. ASME. IDETC-CIE2013, Volume 3A: 39th Design Automation Conference, V03AT03A007, August 4–7, 2013
Paper No: DETC2013-12670
... 1 Copyright © 2013 by ASME A KNOWLEDGE-BASED APPROACH FOR THE AUTOMATED DESIGN OF ROBOTIC/HUMAN MANUFACTURING WORKCELLS IN HAZARDOUS ENVIRONMENTS Joshua M. Williams University of Texas at Austin Los Alamos National Laboratory Los Alamos, New Mexico, 87545 Email: jmwilliams@utexas.edu Mitch W...
Proceedings Papers

Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A066, August 4–7, 2013
Paper No: DETC2013-12140
... robotics mechanics structures tensile trusses Researchers have evaluated the stiffness matrix for different robots and structures, including the Stewart platform style tensile truss. However, none of the configurations analyzed to date involve “dual-reeving,” a common industrial rigging...
Proceedings Papers

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1465-1473, August 15–18, 2010
Paper No: DETC2010-28134
..., the ultimate goal is to apply this co-design methodology to the design of a novel Self-excited Tripedal Dynamic Experimental Robot, STriDER. One of STriDER’s design challenges is to determine its mechanical properties and control inputs that minimize the amount of externally supplied actuation energy required...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C, 1315-1320, August 30–September 2, 2009
Paper No: DETC2009-87550
... is founded on the prefilter output error integral minimization, taking into account of the actuators physical constraints and the tracking performance specifications. An application example is given. Robotics Control Motion control Path tracking Prefilter Davidson-Cole filter Fractional systems...
Proceedings Papers

Proc. ASME. IDETC-CIE2003, Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C, 695-702, September 2–6, 2003
Paper No: DETC2003/VIB-48382
.... Results in simulation and on a DC motor bench are given. 19 06 2008 Robotics motion control input-shaping preshaping path tracking fractional systems optimal control robust control Crone control DC motor Proceedings of DETC'03 ASME 2003 Design Engineering Technical Conferences...
Proceedings Papers

Proc. ASME. IDETC-CIE2002, Volume 1: 22nd Computers and Information in Engineering Conference, 245-252, September 29–October 2, 2002
Paper No: DETC2002/CIE-34413
... presents a unique technique, namely eye tracking, to determine whether having access to a real robot over the Internet makes any difference in the learning and acquired skills of the users. The study uses robotics chapter of an electronic book under development. Design details of the chapter...
Proceedings Papers

Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 1283-1288, September 29–October 2, 2002
Paper No: DETC2002/MECH-34356
... 18 06 2008 This paper focuses on vibration reduction in robots by optimizing their control gains. Conventional methods for gain tuning are mostly based on trial and error, which are very time consuming, and require experienced personnel to tune the gains correctly. In this work we use...