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Journal Articles

In-Situ Calibration of Six-Axis Force/Torque Transducers on a Six-Legged Robot

Ziyou Wu, Shai Revzen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2025, 147(3): 031003.
Paper No: DS-24-1018
https://doi.org/10.1115/1.4066455
Published Online: September 30, 2024
View Article titled, In-Situ Calibration of Six-Axis Force/Torque Transducers on a Six-Legged Robot
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Topics: Calibration, Errors, Gravity (Force), Robots, Torque, Transducers
Includes: Supplementary data
Journal Articles

A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear MPC Approach

Accepted Manuscript
Basit Muhammad Imran, Randall T Fawcett, Jeeseop Kim, Alexander Leonessa, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control.
Paper No: DS-24-1028
https://doi.org/10.1115/1.4066632
Published Online: September 28, 2024
View Article titled, A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear MPC Approach
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Topics: Control algorithms, Robots, Teams, Collisions (Physics), Control equipment, Engineering simulation, Simulation, Delays, Navigation, Pendulums
Journal Articles

Learning Scalable Decentralized Controllers for Heterogeneous Robot Swarms With Graph Neural Networks

Oyindamola Omotuyi, Manish Kumar
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061107.
Paper No: DS-23-1316
https://doi.org/10.1115/1.4065757
Published Online: August 24, 2024
View Article titled, Learning Scalable Decentralized Controllers for Heterogeneous Robot Swarms With Graph Neural Networks
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Topics: Control equipment, Graph neural networks, Robots, Swarm robotics
Journal Articles

Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation

Yuan Gao, Kentaro Barhydt, Christopher Niezrecki, Yan Gu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2025, 147(1): 011003.
Paper No: DS-23-1129
https://doi.org/10.1115/1.4065323
Published Online: August 17, 2024
View Article titled, Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation
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Topics: Control equipment, Design, Dynamics (Mechanics), Errors, Robots, Simulation, Stability, Robot dynamics, Quadratic programming, Motors
Journal Articles

Gaussian Process-Based Learning Control of Underactuated Balance Robots With an External and Internal Convertible Modeling Structure

Feng Han, Jingang Yi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061106.
Paper No: DS-23-1343
https://doi.org/10.1115/1.4065937
Published Online: August 17, 2024
View Article titled, Gaussian Process-Based Learning Control of Underactuated Balance Robots With an External and Internal Convertible Modeling Structure
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Topics: Design, Dynamics (Mechanics), Errors, Pendulums, Robot dynamics, Robots, Trajectories (Physics), Boundary element methods, Control equipment, Modeling
Journal Articles

Localization of Upstream Obstacles by Learning From Spectra of the Koopman Operator

Colin Rodwell, Phanindra Tallapragada
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061108.
Paper No: DS-23-1348
https://doi.org/10.1115/1.4066009
Published Online: August 17, 2024
View Article titled, Localization of Upstream Obstacles by Learning From Spectra of the Koopman Operator
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Topics: Algorithms, Convolutional neural networks, Eigenvalues, Flow (Dynamics), Fluids, Hydrofoil, Pressure, Spectra (Spectroscopy), Time series, Wakes
Journal Articles

An Approach for Identifying Dynamic Parameters in Robotic Systems With Inconsistent Joint Measurements

Weiliang Zhu, Guoteng Zhang, Xuewen Rong, Yibin Li
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2025, 147(1): 011002.
Paper No: DS-23-1209
https://doi.org/10.1115/1.4065861
Published Online: July 25, 2024
View Article titled, An Approach for Identifying Dynamic Parameters in Robotic Systems With Inconsistent Joint Measurements
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Topics: Algorithms, Errors, Excitation, Optimization, Particle swarm optimization, Robotics, Robots, Torque, Trajectories (Physics), Weight (Mass)
Journal Articles

Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent

Heejin Yu, Ahmed Ramadan, Jacek Cholewicki, John M. Popovich, Jr., N. Peter Reeves, Joshua (Sung) H. You, Jongeun Choi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061103.
Paper No: DS-23-1255
https://doi.org/10.1115/1.4065593
Published Online: July 16, 2024
View Article titled, Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent
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Topics: Control equipment, Errors, Feedback, Goodness-of-fit tests, Human-robot interaction, Motor controls, Optimal control, Optimization, Performance, Robotics
Includes: Supplementary data
Journal Articles

Reactive Gait Composition With Stability: Dynamic Walking Amidst Static and Moving Obstacles

Kunal Sanjay Narkhede, Mohamad Shafiee Motahar, Sushant Veer, Ioannis Poulakakis
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2024, 146(5): 051001.
Paper No: DS-23-1083
https://doi.org/10.1115/1.4063997
Published Online: May 20, 2024
View Article titled, Reactive Gait Composition With Stability: Dynamic Walking Amidst Static and Moving Obstacles
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Topics: Dynamics (Mechanics), Limit cycles, Robots, Stability, Theorems (Mathematics), Design, Feedback, Path planning, Algorithms, Control equipment
Journal Articles

Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators

Barat S., Sushrut Surve, Rwik Rana, Madhu Vadali, Harish J. Palanthandalam-Madapusi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2023, 145(12): 121003.
Paper No: DS-23-1062
https://doi.org/10.1115/1.4063488
Published Online: October 9, 2023
View Article titled, Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators
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Topics: Actuators, Engines, Flexible manipulators, Frequency response, Manipulators, Motors, Springs, Stability, Stiffness, Torque
Journal Articles

An Evenly Partition Approach to the Modeling and Constraint-Following Control for the Spatial Cooperative Dual-Robot-System

Fangfang Dong, Bin Yu, Xiaomin Zhao, Shan Chen, Haijun Liu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2023, 145(11): 111003.
Paper No: DS-22-1178
https://doi.org/10.1115/1.4062956
Published Online: October 5, 2023
View Article titled, An Evenly Partition Approach to the Modeling and Constraint-Following Control for the Spatial Cooperative Dual-Robot-System
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Topics: Control equipment, Errors, Kaolin, Modeling, Robots, Robust control, Uncertainty, Stress, Manipulators, Symmetry (Physics)
Journal Articles

Mechatronic Model of a Powertrain With Half Toroidal Continuously Variable Transmission

Erick Axel Padilla-García, Héctor Cervantes-Culebro, Omar Mendoza-Trejo
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2023, 145(1): 011003.
Paper No: DS-21-1263
https://doi.org/10.1115/1.4055879
Published Online: October 28, 2022
View Article titled, Mechatronic Model of a Powertrain With Half Toroidal Continuously Variable Transmission
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Engines, Mechatronic devices, Motors, Robots, Stress, Torque, Simulation results
Journal Articles

Lagrangian and Quasi-Lagrangian Models for Noninertial Pneumatic Soft Cylindrical Robots

Christian-Alejandro Trejo-Ramos, Ernesto Olguín-Díaz, Vicente Parra-Vega
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2022, 144(12): 121004.
Paper No: DS-22-1104
https://doi.org/10.1115/1.4055692
Published Online: October 17, 2022
View Article titled, Lagrangian and Quasi-Lagrangian Models for Noninertial Pneumatic Soft Cylindrical Robots
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Topics: Deformation, Kinematics, Particulate matter, Robots, Simulation, Density
Journal Articles

Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion

Yukai Gong, Jessy W. Grizzle
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2022, 144(12): 121006.
Paper No: DS-22-1154
https://doi.org/10.1115/1.4055770
Published Online: October 17, 2022
View Article titled, Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion
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Topics: Angular momentum, Center of mass, Control equipment, Dynamics (Mechanics), Pendulums, Robots, Feedback, Stability, Torque
Journal Articles

Energy-Optimal Impedance Control of Cooperative Robot Manipulators

Amin Ghorbanpour, Hanz Richter
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2022, 144(12): 121002.
Paper No: DS-22-1018
https://doi.org/10.1115/1.4055391
Published Online: September 27, 2022
View Article titled, Energy-Optimal Impedance Control of Cooperative Robot Manipulators
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Topics: Dynamics (Mechanics), Energy budget (Physics), Robots, Manipulators, Control equipment, Trajectories (Physics), Optimization, Energy consumption, Torque
Journal Articles

Distributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application

Lixia Liu, Jinchen Ji, Bin Li, Zhonghua Miao, Jin Zhou
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. November 2022, 144(11): 114501.
Paper No: DS-21-1008
https://doi.org/10.1115/1.4055163
Published Online: September 8, 2022
View Article titled, Distributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application
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Topics: Delays, Mobile robots, Robots, Kinematics, Noise (Sound), Control equipment
Journal Articles

Light-Emitting Diode-Based Optical Localization of a Robot in Continuous Motion Using Dynamic Prediction

Jason N. Greenberg, Xiaobo Tan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2022, 144(11): 111005.
Paper No: DS-21-1252
https://doi.org/10.1115/1.4055176
Published Online: August 29, 2022
View Article titled, Light-Emitting Diode-Based Optical Localization of a Robot in Continuous Motion Using Dynamic Prediction
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Topics: Bearings, Mobile robots, Robots, Simulation, Errors, Algorithms, Filtration
Journal Articles

Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis

Yan Gu, Yuan Gao, Bin Yao, C. S. George Lee
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2022, 144(11): 111001.
Paper No: DS-21-1241
https://doi.org/10.1115/1.4054732
Published Online: August 18, 2022
View Article titled, Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
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Topics: Construction, Control equipment, Design, Dynamics (Mechanics), Errors, Robots, Simulation, Stability, Theorems (Mathematics), Trajectories (Physics)
Journal Articles

Positional Accuracy Improvement of an Industrial Robot Using Feedforward Compensation and Feedback Control

Bo Li, Wei Zhang, Yufei Li, Wei Tian, Changrui Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2022, 144(7): 071003.
Paper No: DS-21-1246
https://doi.org/10.1115/1.4054312
Published Online: April 22, 2022
View Article titled, Positional Accuracy Improvement of an Industrial Robot Using Feedforward Compensation and Feedback Control
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Topics: Errors, Robots, Feedback, Polynomials, Feedforward control, Robotics
Journal Articles

Cooperative Locomotion Via Supervisory Predictive Control and Distributed Nonlinear Controllers

Jeeseop Kim, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2022, 144(3): 031005.
Paper No: DS-21-1157
https://doi.org/10.1115/1.4052917
Published Online: December 27, 2021
View Article titled, Cooperative Locomotion Via Supervisory Predictive Control and Distributed Nonlinear Controllers
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Topics: Control algorithms, Control equipment, Dynamics (Mechanics), Predictive control, Robots, Computer simulation, Robustness, Uncertainty, Algorithms, Teams