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Siyang Song
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Journal Articles

Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms

Yu She, Zhaoyuan Gu, Siyang Song, Hai-Jun Su, Junmin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031020.
Paper No: JMR-20-1447
https://doi.org/10.1115/1.4050379
Published Online: March 26, 2021
View Article titled, Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms
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Topics: Cables, Design, Shapes, Stiffness, Modeling, Robots
Proceedings Papers

A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction

Yu She, Zhaoyuan Gu, Siyang Song, Hai-Jun Su, Junmin Wang
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A060, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22035
https://doi.org/10.1115/DETC2020-22035
View Paper titled, A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction
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Topics: Cables, Human-robot interaction, Stiffness, Robotics, Design, Safety, Actuators, Additive manufacturing, Modeling, Robots
Journal Articles

Incremental Model Predictive Control of Active Suspensions With Estimated Road Preview Information From a Lead Vehicle

Siyang Song, Junmin Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2020, 142(12): 121004.
Paper No: DS-20-1045
https://doi.org/10.1115/1.4047962
Published Online: August 28, 2020
View Article titled, Incremental Model Predictive Control of Active Suspensions With Estimated Road Preview Information From a Lead Vehicle
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Topics: Control equipment, Predictive control, Roads, Vehicles, Sensors, Design
Journal Articles

Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots

Siyang Song, Yu She, Junmin Wang, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2020, 12(5): 054503.
Paper No: JMR-19-1499
https://doi.org/10.1115/1.4046839
Published Online: May 11, 2020
View Article titled, Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
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Topics: Design, Optimization, Robots, Stiffness
Journal Articles

A Comparative Study on the Effect of Mechanical Compliance for a Safe Physical Human–Robot Interaction

Yu She, Siyang Song, Hai-Jun Su, Junmin Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2020, 142(6): 063305.
Paper No: MD-19-1343
https://doi.org/10.1115/1.4046068
Published Online: March 3, 2020
View Article titled, A Comparative Study on the Effect of Mechanical Compliance for a Safe Physical Human–Robot Interaction
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Topics: Design, Engines, Human-robot interaction, Motors, Robots, Simulation, Stiffness, Safety, Robotics, Torque
Proceedings Papers

Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints

Siyang Song, Yu She, Junmin Wang, Haijun Su
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T42A001, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9006
https://doi.org/10.1115/DSCC2018-9006
View Paper titled, Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints
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Topics: Robots, Safety, Design, Stability, Explosions, Perturbation theory, Simulation results, State estimation, Uncertainty
Journal Articles

Design and Modeling of a Compliant Link for Inherently Safe Corobots

Yu She, Hai-Jun Su, Deshan Meng, Siyang Song, Junmin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011001.
Paper No: JMR-17-1087
https://doi.org/10.1115/1.4038530
Published Online: December 20, 2017
View Article titled, Design and Modeling of a Compliant Link for Inherently Safe Corobots
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Topics: Design, Robots, Safety, Stiffness, Simulation, Robotics, Modeling, Stress