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IEEE/ASME Transactions on Mechatronics

Issue 2 • Date April 2006

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Displaying Results 1 - 22 of 22
  • Table of contents

    Publication Year: 2006, Page(s): c1
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  • IEEE/ASME Transactions on Mechatronics publication information

    Publication Year: 2006, Page(s): c2
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  • Guest Editorial Introduction to the Focused Section on Biomimetics and Novel Aspects in Robotics

    Publication Year: 2006, Page(s):117 - 118
    Cited by:  Papers (1)
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  • High-frequency acceleration feedback in wave variable telerobotics

    Publication Year: 2006, Page(s):119 - 127
    Cited by:  Papers (47)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (462 KB) | HTML iconHTML

    The human hand is very sensitive to the high-frequency accelerations produced by tool contact with a hard object, yet most time delayed telerobots neglect this feedback band entirely in order to achieve stability. We present a control architecture that both incorporates this important information and provides the ability to scale and shape it independently of the low-frequency force feedback. Leve... View full abstract»

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  • Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)

    Publication Year: 2006, Page(s):128 - 138
    Cited by:  Papers (221)  |  Patents (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (868 KB) | HTML iconHTML

    Wheeled vehicles are often incapable of transporting heavy materials over rough terrain or up staircases. Lower extremity exoskeletons supplement human intelligence with the strength and endurance of a pair of wearable robotic legs that support a payload. This paper summarizes the design and analysis of the Berkeley lower extremity exoskeleton (BLEEX). The anthropomorphically based BLEEX has 7 DOF... View full abstract»

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  • Sensorless temperature estimation and control of shape memory alloy actuators using thermoelectric devices

    Publication Year: 2006, Page(s):139 - 144
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (208 KB) | HTML iconHTML

    A method for feedback control of the temperature of shape memory alloy (SMA) actuators without using dedicated temperature sensors is presented in this paper. Thermoelectric devices (TEDs) are used to simultaneously sense and control the SMA temperature by alternating between driving the TEDs via the Peltier effect and measuring the local temperature difference across the TEDs via the Seebeck effe... View full abstract»

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  • Design of a mechanism for biaxial rotation of a wing for a hovering vehicle

    Publication Year: 2006, Page(s):145 - 153
    Cited by:  Papers (29)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (575 KB) | HTML iconHTML

    This paper presents a novel mechanism to actuate the wings of a hovering micro air vehicle (MAV). The mechanism uses a single actuator, but each wing can rotate about two orthogonal axes. The goal of this work is to design a light-weight compact mechanism that flaps the wings, inspired from the wing motion of hummingbird and hovering insects, to generate enough lift for the vehicle to hover. This ... View full abstract»

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  • A robust compliant grasper via shape deposition manufacturing

    Publication Year: 2006, Page(s):154 - 161
    Cited by:  Papers (75)  |  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (842 KB) | HTML iconHTML

    Joint compliance can enable successful robot grasping despite uncertainties in target object location. Compliance also enhances manipulator robustness by minimizing contact forces in the event of unintended contacts or impacts. In this paper, we describe the design, fabrication, and evaluation of a novel compliant robotic grasper constructed using polymer-based shape deposition manufacturing. Join... View full abstract»

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  • Motion control of a novel planar biped with nearly linear dynamics

    Publication Year: 2006, Page(s):162 - 168
    Cited by:  Papers (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (156 KB) | HTML iconHTML

    In this paper, we propose the design of a planar biped for which the model is nearly linear, i.e., the inertia matrix is a constant and the gravity terms in the equations of motion are still nonlinear, but simplified. The legs are designed such that the inertia matrix is independent of the joint variables. As a result, the nonlinear terms in the centrifugal and Coriolis terms disappear. In this de... View full abstract»

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  • Screw-theoretic analysis framework for cooperative payload transport by mobile manipulator collectives

    Publication Year: 2006, Page(s):169 - 178
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (461 KB) | HTML iconHTML

    In recent times, there has been considerable interest in creating and deploying modular cooperating collectives of robots. Interest in such cooperative systems typically arises when certain tasks are either too complex to be performed by a single agent or when there are distinct benefits that accrue by cooperation of many simple robotic modules. However, the nature of both the individual modules a... View full abstract»

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  • Steerability for planar dissipative passive haptic interfaces

    Publication Year: 2006, Page(s):179 - 184
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (183 KB) | HTML iconHTML

    This research addresses the ability of dissipative passive actuators to generate control effects on a passive haptic interface. The ability is first identified as the steerability, i.e., the ability to redirect motions of a manipulator. The force-generation analysis of each individual actuator is then selected as an approach to evaluate the steerability. Passive steerability angle is defined to qu... View full abstract»

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  • Wheel slippage and sinkage detection for planetary rovers

    Publication Year: 2006, Page(s):185 - 195
    Cited by:  Papers (38)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1348 KB) | HTML iconHTML

    Mobile robots are increasingly being used in high-risk rough terrain situations, such as planetary exploration and military applications. Current control and localization algorithms are not well suited to rough terrain, since they generally do not consider the physical characteristics of the vehicle and its environment. Little attention has been devoted to the study of the dynamic effects occurrin... View full abstract»

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  • Design and energetic characterization of a proportional-injector monopropellant-powered actuator

    Publication Year: 2006, Page(s):196 - 204
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (417 KB) | HTML iconHTML

    This paper describes the design and energetic characterization of an actuator designed to provide enhanced system energy and power density for self-powered robots. The proposed actuator is similar to a typical compressible gas fluid-powered actuator, but pressurizes the respective cylinder chambers via a pair of proportional injector valves, which control the flow of a liquid monopropellant throug... View full abstract»

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  • Localization and follow-the-leader control of a heterogeneous group of mobile robots

    Publication Year: 2006, Page(s):205 - 215
    Cited by:  Papers (62)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (749 KB) | HTML iconHTML

    This paper investigates the control and localization of a heterogeneous (e.g., different sensing, mechanical, computational capabilities) group of mobile robots. The group considered here has several inexpensive sensor-limited and computationally limited robots, which follow a leader robot in a desired formation over long distances. This situation is similar to a search, demining, or planetary exp... View full abstract»

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  • MRI/fMRI-compatible robotic system with force feedback for interaction with human motion

    Publication Year: 2006, Page(s):216 - 224
    Cited by:  Papers (102)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (792 KB) | HTML iconHTML

    This paper presents a robotic system that is compatible with anatomical magnetic resonance imaging (MRI) as well as with the more sensitive functional MRI (fMRI), and can safely and smoothly interact with human motion during the imaging. The system takes advantage of the electromagnetic shield that encloses the MR room by placing the interfering or sensitive components outside the shield, in the c... View full abstract»

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  • Line-of-sight task-space sensing methodology for the localization of robotic end-effectors

    Publication Year: 2006, Page(s):225 - 232
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (306 KB) | HTML iconHTML

    In this paper, the implementation of a line-of-sight (LOS) task-space sensing methodology is presented for guidance-based microlocalization of robotic end-effectors. The novelty of the overall system is its applicability to cases that do not allow for the direct proximity measurement of the end-effector's pose (position and orientation). The mobility of the localization application dictates the mi... View full abstract»

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  • Extremum-seeking nonlinear controllers for a human exercise machine

    Publication Year: 2006, Page(s):233 - 240
    Cited by:  Papers (17)  |  Patents (13)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (231 KB) | HTML iconHTML

    In this paper, a next generation exercise machine controller is developed for a single degree of freedom (DOF) system to maximize the user's power output and ensure passivity with the user. In an effort to optimize the user's power expenditure, a desired velocity trajectory is developed that seeks the unknown user-dependent optimal velocity setpoint. Two extremum-seeking algorithms are presented (... View full abstract»

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  • Application of a 3-DOF parallel manipulator for earthquake simulations

    Publication Year: 2006, Page(s):241 - 246
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (847 KB) | HTML iconHTML

    In this paper a formulation and experimental results are presented for a novel application of a 3-degree of freedom (DOF) parallel manipulator to simulate point seismograms and three-dimensional (3-D) earthquake motion. The rigid body acceleration is analyzed to simulate real 3-D earthquakes. Furthermore, first experimental results are reported to analyze earthquake effects on scaled civil structu... View full abstract»

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  • IEEE order form for reprints

    Publication Year: 2006, Page(s): 247
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  • Have you visited lately? www.ieee.org [advertisement]

    Publication Year: 2006, Page(s): 248
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  • IEEE/ASME Transactions on Mechatronics Information for authors

    Publication Year: 2006, Page(s): c3
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  • Blank page [back cover]

    Publication Year: 2006, Page(s): c4
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Aims & Scope

IEEE/ASME Transactions on Mechatronics encompasses all practical aspects of the theory and methods of mechatronics, the synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacture of industrial products and processes.

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Meet Our Editors

Editor-in-Chief
Okyay Kaynak
Department of Electrical and Electronic Engineering
Bogazici University
34342 Istanbul, Turkey
okyay.kaynak@boun.edu.tr