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Proceedings Papers

Minimizing the Energy Loss of the Bi-Articular Actuation in Bipedal Robots

Derek Lahr, Hak Yi, Dennis Hong
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A020, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47803
https://doi.org/10.1115/DETC2015-47803
View Paper titled, Minimizing the Energy Loss of the Bi-Articular Actuation in Bipedal Robots
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Topics: Energy dissipation, Robots, Actuators, Energy consumption, Genetic algorithms, Knee, Optimization
Proceedings Papers

Statics Analysis of Clemen’s Linkage for Robotic Applications

Derek Lahr, Dennis Hong
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A059, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13587
https://doi.org/10.1115/DETC2013-13587
View Paper titled, Statics Analysis of Clemen’s Linkage for Robotic Applications
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Topics: Linkages, Robotics, Statics, Manipulators, Actuators, Bearings, Degrees of freedom, Electromechanical actuators, Hardware, Humanoid robots
Proceedings Papers

Early Developments of a Parallelly Actuated Humanoid, SAFFiR

Derek Lahr, Viktor Orekhov, Bryce Lee, Dennis Hong
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A054, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12590
https://doi.org/10.1115/DETC2013-12590
View Paper titled, Early Developments of a Parallelly Actuated Humanoid, SAFFiR
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Topics: Actuators, Algorithms, Degrees of freedom, Design, Feedback, Fire, Humanoid robots, Manufacturing, Measurement units and standards, Robots
Proceedings Papers

Design and Measurement Error Analysis of a Low-Friction, Lightweight Linear Series Elastic Actuator

Bryce Lee, Viktor Orekhov, Derek Lahr, Dennis Hong
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A022, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13637
https://doi.org/10.1115/DETC2013-13637
View Paper titled, Design and Measurement Error Analysis of a Low-Friction, Lightweight Linear Series Elastic Actuator
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Topics: Actuators, Design, Error analysis, Friction, Seas, Errors, Force measurement, Robots, Stress, Cantilevers
Proceedings Papers

Configurable Compliance for Series Elastic Actuators

Viktor Orekhov, Derek Lahr, Bryce Lee, Dennis Hong
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A021, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13614
https://doi.org/10.1115/DETC2013-13614
View Paper titled, Configurable Compliance for Series Elastic Actuators
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Topics: Actuators, Stiffness, Design, Springs, Weight (Mass), Cantilevers, Design methodology, Dynamics (Mechanics), Engineering prototypes, Force control
Journal Articles

Operation and Kinematic Analysis of a Cam-Based Infinitely Variable Transmission

Derek Lahr, Dennis Hong
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2009, 131(8): 081009.
https://doi.org/10.1115/1.3179004
Published Online: July 27, 2009
View Article titled, Operation and Kinematic Analysis of a Cam-Based Infinitely Variable Transmission
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Topics: Design, Gears, Indexing (Machining), Kinematic analysis, Rotation, Sun gears, Engineering prototypes, Rollers, Kinematics, Equations of motion
Proceedings Papers

The Development of an Incrementally Loaded Finite Element Model of the Whole Skin Locomotion Mechanism: Discovering the Relationship Between Its Shape and Motion

Derek Lahr, Dennis Hong
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 851-858, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49559
https://doi.org/10.1115/DETC2008-49559
View Paper titled, The Development of an Incrementally Loaded Finite Element Model of the Whole Skin Locomotion Mechanism: Discovering the Relationship Between Its Shape and Motion
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Topics: Finite element model, Shapes, Skin, Robots, Fluids, Membranes, Actuators, Advanced materials, Design, Finite element analysis
Journal Articles

Whole Skin Locomotion Inspired by Amoeboid Motility Mechanisms

Dennis W. Hong, Mark Ingram, Derek Lahr
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2009, 1(1): 011015.
https://doi.org/10.1115/1.2976368
Published Online: September 5, 2008
View Article titled, Whole Skin Locomotion Inspired by Amoeboid Motility Mechanisms
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Topics: Finite element analysis, Membranes, Skin, Robots, Fluids