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Proceedings Papers

The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot

Shannon Ridgeway, Carl D. Crane, III, Phillip Adsit, Roy Harrell

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 591-597, September 13–16, 1992

Paper No: DETC1992-0263

DOI: https://doi.org/10.1115/DETC1992-0263

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Topics: Design engineering, Mobile robots, Design, Actuators, Kinematics, Torque

Proceedings Papers

Closed-Form Forward Displacement Analyses of the 4-5 In-Parallel Platforms

W. Lin, Carl D. Crane, III, J. Duffy

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 521-527, September 13–16, 1992

Paper No: DETC1992-0254

DOI: https://doi.org/10.1115/DETC1992-0254

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Topics: Displacement, Polynomials

Proceedings Papers

Path Planning for an Articulated Transporter/Manipulator System

Shih-chien Chiang, Carl D. Crane, III, Joseph Duffy

Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 405-412, September 13–16, 1992

Paper No: DETC1992-0240

DOI: https://doi.org/10.1115/DETC1992-0240

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Topics: Manipulators, Path planning, Collisions (Physics)

Proceedings Papers

A Multi-Purpose Off-Line Path Planner Based on an A * Search Algorithm

Arturo L. Rankin, Carl D. Crane, III

Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A005, August 18–22, 1996

Paper No: 96-DETC/MECH-1134

DOI: https://doi.org/10.1115/96-DETC/MECH-1134

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Topics: Algorithms, Computer software, Computers, Mobile robots, Navigation, Off-road vehicles, Roads, Robots, Rotation, Trenching machinery

Proceedings Papers

The Optimum Quality Index for a Spatial Redundant 8-8 In-Parallel Manipulator

Yu Zhang, Joseph Duffy, Carl D. Crane, III

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 443-450, September 10–13, 2000

Paper No: DETC2000/MECH-14097

DOI: https://doi.org/10.1115/DETC2000/MECH-14097

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Topics: Manipulators, Design, Jacobian matrices, Space frame structures, Static stability, Symmetry (Physics)

Proceedings Papers

In-Parallel Passive Compliant Coupler for Robot Force Control

T. A. Dwarakanath, Carl D. Crane, III, Joseph Duffy, Chad Tyler

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 587-593, September 10–13, 2000

Paper No: DETC2000/MECH-14114

DOI: https://doi.org/10.1115/DETC2000/MECH-14114

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Topics: Force control, Robots, Design, Signal to noise ratio, Compliant mechanisms, Displacement, Shape optimization

Proceedings Papers

A Spatial Dynamic Analysis of an Excavator to Determine Bucket/Load Weight

Joseph Duffy, Carl D. Crane, III

Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1267-1278, September 10–13, 2000

Paper No: DETC2000/MECH-14186

DOI: https://doi.org/10.1115/DETC2000/MECH-14186

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Topics: Dynamic analysis, Stress, Trenching machinery, Weight (Mass), Center of mass, Optimization, Rotational inertia

Proceedings Papers

Development and Kinematic Position Analysis of a Novel Class 2 Tensegrity Robot

Carlos G. Manríquez-Padilla, Karla A. Camarillo-Gómez, Gerardo I. Pérez-Soto, Juvenal Rodríguez-Reséndiz, Carl D. Crane, III

Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A047, August 26–29, 2018

Paper No: DETC2018-86057

DOI: https://doi.org/10.1115/DETC2018-86057

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Topics: Kinematics, Robots, Tensegrity, Engineering prototypes, Kinematic analysis, Simulation, Trajectories (Physics), Universal joints

Journal Articles

Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope

Vishesh Vikas, Carl D. Crane, III

J. Mechanisms Robotics. April 2016, 8(2): 021003.

Paper No: JMR-14-1328

DOI: https://doi.org/10.1115/1.4031299

Published Online: November 24, 2015

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Topics: Accelerometers, Sensors, Universal joints, Microelectromechanical systems, Design, Errors

Journal Articles

Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting

Rafael E. Vasquez, Carl D. Crane,, III, Julio C. Correa

J. Mechanisms Robotics. August 2014, 6(3): 031015.

Paper No: JMR-13-1214

DOI: https://doi.org/10.1115/1.4027703

Published Online: June 17, 2014

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Topics: Tensegrity mechanisms, Wave energy, Waves, Tensegrity, Equations of motion, Damping

Proceedings Papers

Vehicle Roll Stabilization Enhancement Using a Variable Stiffness Architecture: Kinematic Control

Olugbenga M. Anubi, Carl D. Crane, III

Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T46A001, October 21–23, 2013

Paper No: DSCC2013-3829

DOI: https://doi.org/10.1115/DSCC2013-3829

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Topics: Kinematics, Stiffness, Vehicles, Dynamics (Mechanics), Suspension systems, Bicycles, Energy dissipation, Simulation, Simulation results, Stability

Proceedings Papers

Measurement of Robot Link Joint Parameters Using Multiple Accelerometers and Gyroscope

Vishesh Vikas, Carl D. Crane, III

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A007, August 4–7, 2013

Paper No: DETC2013-12741

DOI: https://doi.org/10.1115/DETC2013-12741

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Topics: Accelerometers, Robots, Sensors, Errors, Gravity (Force)

Proceedings Papers

Nonlinear Disturbance Rejection for Semi-Active MacPherson Suspension System

Olugbenga M. Anubi, Carl D. Crane, III, W. E. Dixon

Proc. ASME. DSCC2012-MOVIC2012, Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control, 513-522, October 17–19, 2012

Paper No: DSCC2012-MOVIC2012-8702

DOI: https://doi.org/10.1115/DSCC2012-MOVIC2012-8702

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Topics: Suspension systems, Control equipment, Dampers, Damping, Simulation results, Tires, Closed loop systems, Design, Energy dissipation, Kinematics

Proceedings Papers

Experimental Results for Moving Object Structure Estimation Using an Unknown Input Observer Approach

Sujin Jang, Ashwin P. Dani, Carl D. Crane, III, Warren E. Dixon

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, 597-606, October 17–19, 2012

Paper No: DSCC2012-MOVIC2012-8778

DOI: https://doi.org/10.1115/DSCC2012-MOVIC2012-8778

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Topics: Atomic force microscopy, Design, Dynamic systems, Kinematics, Optimization, Robots

Proceedings Papers

Nonlinear Control of Semi-Active MacPherson Suspension System

Olugbenga M. Anubi, Carl D. Crane, III

Proc. ASME. IDETC-CIE2012, Volume 6: 1st Biennial International Conference on Dynamics for Design; 14th International Conference on Advanced Vehicle Technologies, 397-406, August 12–15, 2012

Paper No: DETC2012-71179

DOI: https://doi.org/10.1115/DETC2012-71179

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Topics: Suspension systems, Control equipment, Dampers, Damping, Simulation results, Tires, Closed loop systems, Design, Energy dissipation, Feedback

Proceedings Papers

Kinematics and Dynamics of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting

Rafael E. Vasquez, Julio C. Correa, Carl D. Crane, III

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1015-1024, August 12–15, 2012

Paper No: DETC2012-70320

DOI: https://doi.org/10.1115/DETC2012-70320

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Topics: Dynamics (Mechanics), Kinematics, Tensegrity mechanisms, Wave energy, Tensegrity, Aerospace industry, Biology, Displacement, Dynamic analysis, Engineering disciplines

Proceedings Papers

Inclination Parameter Estimation for Manipulator and Humanoid Robot Links

Vishesh Vikas, Carl D. Crane, III

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1177-1183, August 28–31, 2011

Paper No: DETC2011-48221

DOI: https://doi.org/10.1115/DETC2011-48221

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Topics: Accelerometers, Errors, Gravity (Force), Humanoid robots, Manipulators, Parameter estimation, Robotics, Sensors

Proceedings Papers

A New Variable Stiffness Suspension Mechanism

Olugbenga M. Anubi, Carl D. Crane, III

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1193-1201, August 28–31, 2011

Paper No: DETC2011-48279

DOI: https://doi.org/10.1115/DETC2011-48279

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Topics: Stiffness, Suspension systems, Roads, Transfer functions, Control equipment, Deflection, Displacement, Levers, Tires, Tradeoffs

Journal Articles

Position and Force Analysis of a Planar Tensegrity-Based Compliant Mechanism

Youngjin Moon, Carl D. Crane, III, Rodney G. Roberts

J. Mechanisms Robotics. February 2012, 4(1): 011004.

DOI: https://doi.org/10.1115/1.4005531

Published Online: February 3, 2012

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Topics: Elastic constants, Equilibrium (Physics), Pistons, Potential energy, Springs, Stiffness, Tensegrity-based compliant mechanisms, Tensegrity

Proceedings Papers

Design and Analysis of a Variable Stiffness Mechanism

Olugbenga M. Anubi, Carl D. Crane, III, Shanon Ridgeway

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 589-596, August 15–18, 2010

Paper No: DETC2010-28834

DOI: https://doi.org/10.1115/DETC2010-28834

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Topics: Design, Stiffness, Levers, Springs, Stress

Journal citation

NARROW

The Mechanical Design of a Parallel Actuated Joint for an Articulated Mobile Robot

Closed-Form Forward Displacement Analyses of the 4-5 In-Parallel Platforms

Path Planning for an Articulated Transporter/Manipulator System

A Multi-Purpose Off-Line Path Planner Based on an A * Search Algorithm

The Optimum Quality Index for a Spatial Redundant 8-8 In-Parallel Manipulator

In-Parallel Passive Compliant Coupler for Robot Force Control

A Spatial Dynamic Analysis of an Excavator to Determine Bucket/Load Weight

Development and Kinematic Position Analysis of a Novel Class 2 Tensegrity Robot

Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope

Analysis of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting

Vehicle Roll Stabilization Enhancement Using a Variable Stiffness Architecture: Kinematic Control

Measurement of Robot Link Joint Parameters Using Multiple Accelerometers and Gyroscope

Nonlinear Disturbance Rejection for Semi-Active MacPherson Suspension System

Experimental Results for Moving Object Structure Estimation Using an Unknown Input Observer Approach

Nonlinear Control of Semi-Active MacPherson Suspension System

Kinematics and Dynamics of a Planar Tensegrity Mechanism for Ocean Wave Energy Harvesting

Inclination Parameter Estimation for Manipulator and Humanoid Robot Links

A New Variable Stiffness Suspension Mechanism

Position and Force Analysis of a Planar Tensegrity-Based Compliant Mechanism

Design and Analysis of a Variable Stiffness Mechanism

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