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Proceedings Papers

Reduced-Order Model With Foot Tipping Allowance for Legged Balancing

William Z. Peng, Hyunjong Song, Joo H. Kim

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A011, August 17–19, 2021

Paper No: DETC2021-71976

DOI: https://doi.org/10.1115/DETC2021-71976

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Topics: Clearances (Engineering), Pendulums, Optimization, Trajectories (Physics), Engineering simulation, Flywheels, Nonlinear programming, Simulation, Stability

Journal Articles

Stability Region-Based Analysis of Walking and Push Recovery Control

William Z. Peng, Hyunjong Song, Joo H. Kim

J. Mechanisms Robotics. June 2021, 13(3): 031005.

Paper No: JMR-20-1460

DOI: https://doi.org/10.1115/1.4050095

Published Online: March 12, 2021

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Topics: Control equipment, Dynamics (Mechanics), Humanoid robots, Kinematics, Optimization, Robots, Stability, Trajectories (Physics)

Proceedings Papers

Stability Region-Based Analysis of Walking and Push Recovery Control

William Z. Peng, Hyunjong Song, Joo H. Kim

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A056, August 17–19, 2020

Paper No: DETC2020-22720

DOI: https://doi.org/10.1115/DETC2020-22720

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Topics: Robots, Stability

Proceedings Papers

Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane

Carlotta Mummolo, William Z. Peng, Joo H. Kim

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A068, August 18–21, 2019

Paper No: DETC2019-98036

DOI: https://doi.org/10.1115/DETC2019-98036

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Topics: Angular momentum, Center of mass, Control equipment, Dynamics (Mechanics), Engines, Kinematics, Motors, Robotics, Robots, Stability

Proceedings Papers

Sensitivity of Balancing in Legged Systems Under Torque Constraint Variations

Carlos Gonzalez, Carlotta Mummolo, Joo H. Kim

Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A023, August 26–29, 2018

Paper No: DETC2018-86063

DOI: https://doi.org/10.1115/DETC2018-86063

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Topics: Torque, Stability, Actuators, Design, Motors, Muscle, Optimization, Pendulums, Robots

Journal Articles

Contact-Dependent Balance Stability of Biped Robots

Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, Joo H. Kim

J. Mechanisms Robotics. April 2018, 10(2): 021009.

Paper No: JMR-17-1319

DOI: https://doi.org/10.1115/1.4038978

Published Online: February 27, 2018

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Topics: Robots, Stability, Dynamics (Mechanics), Robotics

Proceedings Papers

Contact-Dependent Balance Stability of Walking Robots

Carlotta Mummolo, William Z. Peng, Carlos Gonzalez, Joo H. Kim

Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A035, August 6–9, 2017

Paper No: DETC2017-68272

DOI: https://doi.org/10.1115/DETC2017-68272

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Topics: Robots, Stability, Center of mass, Robotics

Proceedings Papers

Estimation of Balance Stability States for Legged Robotic Systems

Carlotta Mummolo, Luigi Mangialardi, Joo H. Kim

Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A044, August 21–24, 2016

Paper No: DETC2016-59676

DOI: https://doi.org/10.1115/DETC2016-59676

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Topics: Robotics, Stability, Algorithms, Center of mass, Design, Equilibrium (Physics), Optimization, State estimation

Proceedings Papers

Computational Metabolic Energy Expenditure Model With Novel Heat Dissipation Formulation

William Peng, Joo H. Kim

Proc. ASME. IDETC-CIE2015, Volume 1A: 35th Computers and Information in Engineering Conference, V01AT02A054, August 2–5, 2015

Paper No: DETC2015-47728

DOI: https://doi.org/10.1115/DETC2015-47728

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Topics: Energy dissipation, Heat, Kinematics, Dynamics (Mechanics), Modeling, Multibody systems, Muscle, Regression analysis, Steady state, Thermodynamics

Proceedings Papers

Degree-of-Freedom-Based Instantaneous Energetic Cost of Robotic Biped Gait With Benchmarking Implications

Dustyn Roberts, Joseph Quacinella, Joo H. Kim

Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A025, August 2–5, 2015

Paper No: DETC2015-47712

DOI: https://doi.org/10.1115/DETC2015-47712

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Topics: Robotics, Robots, Instrumentation, Actuators, Cycles, Degrees of freedom, Energetics, Servomotors, Stability

Proceedings Papers

Concurrent Contact Planning and Trajectory Optimization in One Step Walking Motion

Carlotta Mummolo, Luigi Mangialardi, Joo H. Kim

Proc. ASME. IDETC-CIE2015, Volume 8: 27th Conference on Mechanical Vibration and Noise, V008T13A018, August 2–5, 2015

Paper No: DETC2015-47745

DOI: https://doi.org/10.1115/DETC2015-47745

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Topics: Optimization, Trajectories (Physics), Nonlinear programming, Path planning, Algorithms, Design, Multibody systems, Quadratic programming, Robotics, Simulation

Proceedings Papers

Loaded Versus Unloaded Gait Balance Stability: A Measure of Dynamic Walking

Carlotta Mummolo, Sukyung Park, Luigi Mangialardi, Joo H. Kim

Proc. ASME. IDETC-CIE2015, Volume 6: 11th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A008, August 2–5, 2015

Paper No: DETC2015-47741

DOI: https://doi.org/10.1115/DETC2015-47741

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Topics: Stability, Inertia (Mechanics), Railroad passenger cars, Stress, Cycles, Kinematics

Proceedings Papers

Contact Status Optimization of Multibody Dynamic Systems Using Dual Variable Transformation

Carlotta Mummolo, Luigi Mangialardi, Joo H. Kim

Proc. ASME. IDETC-CIE2014, Volume 6: 10th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T10A069, August 17–20, 2014

Paper No: DETC2014-34193

DOI: https://doi.org/10.1115/DETC2014-34193

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Topics: Dynamic systems, Optimization, Algorithms, Nonlinear programming, Trajectories (Physics), Dynamic models, Manipulators, Multibody systems, Path planning, Quadratic programming

Proceedings Papers

Human Stair Ascent and Descent Simulations

Yujiang Xiang, Joo H. Kim, Hyun-Joon Chung, James Yang, Hyun-Jung Kwon

Proc. ASME. IDETC-CIE2014, Volume 1A: 34th Computers and Information in Engineering Conference, V01AT02A032, August 17–20, 2014

Paper No: DETC2014-34324

DOI: https://doi.org/10.1115/DETC2014-34324

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Topics: Engineering simulation, Simulation, Stairs, Dynamics (Mechanics), Degrees of freedom, Design, Optimization, Prostheses, Weapons

Proceedings Papers

Joint-Space Dynamic Model of Metabolic Cost With Subject-Specific Energetic Parameters

Dustyn Roberts, Howard Hillstrom, Joo H. Kim

Proc. ASME. IDETC-CIE2014, Volume 1A: 34th Computers and Information in Engineering Conference, V01AT02A029, August 17–20, 2014

Paper No: DETC2014-34192

DOI: https://doi.org/10.1115/DETC2014-34192

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Topics: Dynamic models, Muscle, Dynamics (Mechanics), Experimental methods, Multibody systems, Optimization algorithms, Reliability, Thermodynamics

Proceedings Papers

Fall Initiation Criteria for Three-Dimensional Multi-Segmental Model of Biped Robot

Chang B. Joo, Joo H. Kim

Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A069, August 17–20, 2014

Paper No: DETC2014-34191

DOI: https://doi.org/10.1115/DETC2014-34191

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Topics: Center of mass, Dynamic models, Inertia (Mechanics), Maintenance, Manifolds, Optimization, Pendulums, Pressure, Robots

Proceedings Papers

SQP-Based Mobile Manipulator Motion Planning With Controlled Infeasibility for Physically Valid Task Failure

Chang B. Joo, Joo H. Kim

Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A075, August 4–7, 2013

Paper No: DETC2013-13377

DOI: https://doi.org/10.1115/DETC2013-13377

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Topics: Failure, Manipulators, Path planning, Algorithms, Composite materials, Quadratic programming, Weight (Mass)

Proceedings Papers

Experimental Analysis for Passive and Dynamic Gait Measures of Biped Walking

Carlotta Mummolo, Luigi Mangialardi, Joo H. Kim

Proc. ASME. DSCC2012-MOVIC2012, Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems, 25-32, October 17–19, 2012

Paper No: DSCC2012-MOVIC2012-8673

DOI: https://doi.org/10.1115/DSCC2012-MOVIC2012-8673

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Topics: Center of mass, Cycles, Experimental analysis, Inertia (Mechanics), Optimization, Pendulums, Platinum group metals, Robots, Stability, System dynamics

Proceedings Papers

Controlled Infeasibility for Physically Feasible Optimal Motion Planning of Manipulators

Joo H. Kim, Chang B. Joo

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1339-1345, August 12–15, 2012

Paper No: DETC2012-71342

DOI: https://doi.org/10.1115/DETC2012-71342

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Topics: Manipulators, Path planning, Algorithms, Quadratic programming, Stress, Weight (Mass)

Proceedings Papers

Predicting Energy Consumption in Humans Using Joint Space Methods

Dustyn P. Roberts, Joo H. Kim

Proc. ASME. IDETC-CIE2012, Volume 3: 38th Design Automation Conference, Parts A and B, 673-679, August 12–15, 2012

Paper No: DETC2012-71353

DOI: https://doi.org/10.1115/DETC2012-71353

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Topics: Energy consumption, Chemical energy, Equations of motion, Food products, Heat losses, Kinematics, Modeling, Muscle, Patient treatment, Physiology

Journal citation

NARROW

Reduced-Order Model With Foot Tipping Allowance for Legged Balancing

Stability Region-Based Analysis of Walking and Push Recovery Control

Stability Region-Based Analysis of Walking and Push Recovery Control

Whole-Body Balancing Criteria for Biped Robots in Sagittal Plane

Sensitivity of Balancing in Legged Systems Under Torque Constraint Variations

Contact-Dependent Balance Stability of Biped Robots

Contact-Dependent Balance Stability of Walking Robots

Estimation of Balance Stability States for Legged Robotic Systems

Computational Metabolic Energy Expenditure Model With Novel Heat Dissipation Formulation

Degree-of-Freedom-Based Instantaneous Energetic Cost of Robotic Biped Gait With Benchmarking Implications

Concurrent Contact Planning and Trajectory Optimization in One Step Walking Motion

Loaded Versus Unloaded Gait Balance Stability: A Measure of Dynamic Walking

Contact Status Optimization of Multibody Dynamic Systems Using Dual Variable Transformation

Human Stair Ascent and Descent Simulations

Joint-Space Dynamic Model of Metabolic Cost With Subject-Specific Energetic Parameters

Fall Initiation Criteria for Three-Dimensional Multi-Segmental Model of Biped Robot

SQP-Based Mobile Manipulator Motion Planning With Controlled Infeasibility for Physically Valid Task Failure

Experimental Analysis for Passive and Dynamic Gait Measures of Biped Walking

Controlled Infeasibility for Physically Feasible Optimal Motion Planning of Manipulators

Predicting Energy Consumption in Humans Using Joint Space Methods

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