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Proceedings Papers

StickBot: A Methodology for Building Robots and Other Functional Elements From Tree Branches and String

Devin Carroll, Valerie Ang, Mark Yim
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A077, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-109541
https://doi.org/10.1115/DETC2023-109541
View Paper titled, StickBot: A Methodology for Building Robots and Other Functional Elements From Tree Branches and String
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Topics: Robots, String, Orthotics, Grippers, Robotics, Actuators, Blocks (Building materials), Developing nations, Disaster recovery, End effectors
Proceedings Papers

MEMS-Based Control of Structural Dynamic Instability

J. Geoffrey Chase, Mark Yim, Andrew A. Berlin, Brian. J. Maclean, Marc Olivier, Stephen C. Jacobsen
Proc. ASME. IMECE97, Adaptive Structures and Material Systems, 105-112, November 16–21, 1997
Publisher: American Society of Mechanical Engineers
Paper No: IMECE1997-0183
https://doi.org/10.1115/IMECE1997-0183
View Paper titled, MEMS-Based Control of Structural Dynamic Instability
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Topics: Microelectromechanical systems, Structural dynamics, Stress, Buckling, Actuators, Design, Sensors, Adaptive structures, Control systems, Engineering prototypes
Journal Articles

A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

Chao Liu, Tarik Tosun, Mark Yim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061004.
Paper No: JMR-20-1210
https://doi.org/10.1115/1.4050249
Published Online: May 31, 2021
View Article titled, A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots
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Topics: Kalman filters, Sensors, Wheels, Robots, Manufacturing
Journal Articles

Topological Reconfiguration Planning for a Variable Topology Truss

Alexander Spinos, Devin Carroll, Terry Kientz, Mark Yim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040902.
Paper No: JMR-20-1577
https://doi.org/10.1115/1.4050530
Published Online: April 9, 2021
View Article titled, Topological Reconfiguration Planning for a Variable Topology Truss
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Topics: Topology, Trusses (Building), Robots
Proceedings Papers

Low Cost Optical Mechanical System for Human Robot Interaction

Yulai Weng, Andrew Specian, Mark Yim
Proc. ASME. IMECE2018, Volume 4A: Dynamics, Vibration, and Control, V04AT06A029, November 9–15, 2018
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2018-87885
https://doi.org/10.1115/IMECE2018-87885
View Paper titled, Low Cost Optical Mechanical System for Human Robot Interaction
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Topics: Human-robot interaction, Mirrors, Calibration, Canvas, Design, Humanoid robots, Resolution (Optics), Robotics, Robots
Proceedings Papers

Truss Optimization With Random Piecewise Linear Beams

Devin Carroll, Mark Yim
Proc. ASME. IMECE2017, Volume 11: Systems, Design, and Complexity, V011T15A009, November 3–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2017-71485
https://doi.org/10.1115/IMECE2017-71485
View Paper titled, Truss Optimization With Random Piecewise Linear Beams
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Topics: Optimization, Trusses (Building), Construction, Disasters, Geometry, Weight (Mass)
Proceedings Papers

Rapid Co-Design of Electro-Mechanical Specifications for Robotic Systems

Nicola Bezzo, Peter Gebhard, Insup Lee, Matthew Piccoli, Vijay Kumar, Mark Yim
Proc. ASME. IDETC-CIE2015, Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, V009T07A009, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47472
https://doi.org/10.1115/DETC2015-47472
View Paper titled, Rapid Co-Design of Electro-Mechanical Specifications for Robotic Systems
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Topics: Design, Robotics, Manufacturing, Robots, Computer programming, Computer software, Drag (Fluid dynamics), Electronic systems, Graphical user interfaces, Printed circuit boards
Proceedings Papers

The Y-Prize Competition: An Inverted X-Prize Competition for Commercializing University Research

Rebecca Hayward, Michelle Eckert, Justin Thomas, Mickey Whitzer, Saikat Chaudhuri, Tom Fitzsimons, David Hsu, Mark Yim, Vijay Kumar
Proc. ASME. IDETC-CIE2014, Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices, V003T04A011, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34990
https://doi.org/10.1115/DETC2014-34990
View Paper titled, The Y-Prize Competition: An Inverted X-Prize Competition for Commercializing University Research
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Topics: Concretes, Cutting, Innovation, Robotics, Students, Undergraduate students, Vehicles
Journal Articles

Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems

Nick Eckenstein, Mark Yim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041013.
Paper No: JMR-11-1076
https://doi.org/10.1115/1.4025218
Published Online: October 4, 2013
View Article titled, Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems
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Topics: Gravity (Force), Kinematics, Springs, Engineering prototypes, Robotics
Proceedings Papers

On the Development of a Piezoelectric-Actuated Compliant Brake Mechanism for Modular Robots

Chris E. Thorne, Paul J. White, Mark Yim
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 561-568, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48799
https://doi.org/10.1115/DETC2011-48799
View Paper titled, On the Development of a Piezoelectric-Actuated Compliant Brake Mechanism for Modular Robots
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Topics: Brakes, Robots, Torque, Automotive brakes, Design, Disks, Energy consumption, Magnetic particles, Manufacturing, Piezoelectric actuators
Proceedings Papers

Mechanics of a Fluid Filled Everting Toroidal Robot for Propulsion and Going Through a Hole

Viktor Orekhov, Mark Yim, Dennis Hong
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1205-1212, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-29053
https://doi.org/10.1115/DETC2010-29053
View Paper titled, Mechanics of a Fluid Filled Everting Toroidal Robot for Propulsion and Going Through a Hole
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Topics: Fluids, Propulsion, Robots, Skin, Membranes, Actuators, Incompressible fluids, Locomotives, Mobile robots, Pressure
Proceedings Papers

A Toolchain for the Design and Simulation of Foldable Programmable Matter

Steven R. Gray, Jungwon Seo, Paul J. White, Nathan J. Zeichner, Mark Yim, Vijay Kumar
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1167-1176, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28838
https://doi.org/10.1115/DETC2010-28838
View Paper titled, A Toolchain for the Design and Simulation of Foldable Programmable Matter
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Topics: Design, Simulation, Actuators, Advanced materials, Algorithms, Collisions (Physics), Engineering drawing and drafting, Robots, Sensors, Shapes
Proceedings Papers

Right Angle Tetrahedron Chain Externally-Actuated Testbed (RATChET): A Shape-Changing System

Paul J. White, Chris E. Thorne, Mark Yim
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 807-817, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87657
https://doi.org/10.1115/DETC2009-87657
View Paper titled, Right Angle Tetrahedron Chain Externally-Actuated Testbed (RATChET): A Shape-Changing System
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Topics: Chain, Shapes, Actuators, Microscale devices, Compliant mechanisms, Design, Engineering prototypes, Resolution (Optics), Robotics
Proceedings Papers

Project First: A Case Study in Mechatronics Course Design

Jonathan P. Fiene, Mark Yim
Proc. ASME. IDETC-CIE2008, Volume 5: 13th Design for Manufacturability and the Lifecycle Conference; 5th Symposium on International Design and Design Education; 10th International Conference on Advanced Vehicle and Tire Technologies, 525-534, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-50030
https://doi.org/10.1115/DETC2008-50030
View Paper titled, Project First: A Case Study in Mechatronics Course Design
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Topics: Design, Mechatronics education, Students, Creativity, Robots
Proceedings Papers

Stochastic Control for Self-Assembly of XBots

Nora Ayanian, Paul J. White, A´da´m Ha´la´sz, Mark Yim, Vijay Kumar
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1169-1176, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49535
https://doi.org/10.1115/DETC2008-49535
View Paper titled, Stochastic Control for Self-Assembly of XBots
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Topics: Self-assembly, Algorithms, Biochemistry, Chemical kinetics, Decision making, Engineering simulation, Kinematics, Robots, Shapes, Simulation
Proceedings Papers

Reconfiguration for Modular Robots Using Kinodynamic Motion Planning

Ioan A. S¸ucan, Jonathan F. Kruse, Mark Yim, Lydia E. Kavraki
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 1429-1431, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2296
https://doi.org/10.1115/DSCC2008-2296
View Paper titled, Reconfiguration for Modular Robots Using Kinodynamic Motion Planning
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Topics: Path planning, Robots, Chain, Hardware, Physics
Proceedings Papers

A Biologically-Inspired Dynamic Legged Locomotion With a Modular Reconfigurable Robot

Jimmy Sastra, Willy Giovanni Bernal Heredia, Jonathan Clark, Mark Yim
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 1467-1474, October 20–22, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2008-2402
https://doi.org/10.1115/DSCC2008-2402
View Paper titled, A Biologically-Inspired Dynamic Legged Locomotion With a Modular Reconfigurable Robot
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Topics: Legged locomotion, Robots, Design, Engineering prototypes, Shapes, Simulation, Space, Wheels
Journal Articles

Polyhedral Single Degree-of-freedom Expanding Structures: Design and Prototypes

Sunil K. Agrawal, Associate Professor, Saravana Kumar, Graduate Student, Mark Yim, Members of Research Staff,
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. September 2002, 124(3): 473–478.
https://doi.org/10.1115/1.1480413
Published Online: August 6, 2002
View Article titled, Polyhedral Single Degree-of-freedom Expanding Structures: Design and Prototypes
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Topics: Degrees of freedom, Design, Engineering prototypes, Shapes, Actuators