Structural Design for Shock Mitigation

Project Description

"Jamming and Wedging in Constrained Rigid-body Dynamics,"
P. Dupont and S. Yamajako,Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp.2349-2354.

Back to top

Optimization of Vibration and Shock Dampers

Project Description

"Constrained Optimal Control of Vibration Dampers"
P. Kasturi and P. Dupont, accepted for publication in Journal of Sound and Vibration as of April 3, 1998.

"Semi-active Control of Friction Dampers"
P.Dupont, P. Kasturi and A. Stokes, Journal of Sound and Vibration, Vol. 202, No. 2, May 1,1997, pp. 203-218.

"Periodic Optimal Control of Dampers,"
P.Kasturi and P. Dupont, 1997 ASME Design Engineering Technical Conference, Sacramento, CA,September 1997.

"Experimental Evaluation of a Semi-active Friction Damper,"
P. Dupont, P. Kasturi and A. Stokes, Elasto-Impact and Friction in Dynamic Systems, presented at the 1996 ASME International Mechanical Engineering Congress and Exposition, Atlanta, GA, November 1996, DE-Vol. 90, pp. 69-74.

"Stability of Rigid-body Dynamics with Sliding Frictional Contacts,"
P. Dupont and S. Yamajako, Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, MN, April 1996, pp. 378-384.

"Semi-active Control of Friction Dampers,"
P.Dupont and A. Stokes, Proceedings of the 34th Conference on Decision and Control,New Orleans, Dec. 13-15, 1995, pp. 3331-3336.

"Experimental Investigation of Friction Dynamics Associated with Normal Load,"
P. Dupont and P. Kasturi, Symposium on Friction Damping and Friction-Induced Vibration, Proceedings of the ASME 15th Biennial Conference on Mechanical Vibration and Noise, Boston, September 1995, DE-Vol. 84-1, pp.1109-1115.

Back to top

Modeling Kinematic and Dynamic Properties of Remote Environments

Project Description

T. Debus, P. Dupont, and R. Howe, "Remote Environment Property Estimation During Teleoperation." Submitted to IEEE ICRA, 1999.

R. Howe, T. Debus and P. Dupont, "Haptic Identification of Remote Environment Properties." SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Proceedings of the SPIE, Vol. 3524, Boston, MA, November, 1998.

T. Debus, P. Dupont and R. Howe, "Automatic Property Identification via Parameterized Constraints." Proceedings of the 1999 IEEEInternational Conference on Robotics and Automation, Detroit, MI, pp. 1876-1881 May 1999.

"Two Phase Path Planning for Robots with Six or More Joints,"
P. Dupont and S. Derby, Transactions of the ASME - Journal of Mechanical Design, Vol. 112, No. 1, March 1990, pp. 50-58.

"Experimental Identification of Kinematic Constraints,"
P. Dupont, T. Schulteis and R. Howe, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 1997,pp. 2677-2682.

"Automatic Identification of Remote Environments,"
T. Shulteis, P. Dupont, P. Millman and R. Howe, Proceedings of the ASME Dynamic Systems and Control Division, presented at the 1996 ASME International Mechanical Engineering Congress and Exposition, Atlanta, GA, November 1996,DSC-Vol. 58, pp. 451-458.

"Avoiding Stick-Slip in Position and Force Control through Feedback," P. Dupont, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, April 1991, pp. 1470-1475.

"An Algorithm for CAD-Based Generation of Collision-Free Robot Paths,"
P. Dupont and S. Derby, CAD Based Programming for Sensory Robots, NATO Advanced Research Workshop, Il
Ciocco, Italy, July 4-6, 1988, NATO ASI Series, Vol. F50, Ed. B. Ravani, Springer-Verlag, Berlin, 1988, pp. 433-465.

"A Two Phase Path Planning Algorithm for Robots with Six or More Joints,"
P. Dupont and S. Derby, Trends and Developments in Mechanisms, Machines and Robotics - 1988, Volume 3, ASME 20th Biennial Mechanisms Conference, Kissimmee, Florida, September 25-28, 1988, pp. 415-428.

"A Simple Heuristic Path Planner for Redundant Robots,"
P. Dupont and S. Derby, Trends and Developments in Mechanisms,Machines and Robotics - 1988, Volume 3, ASME 20th Biennial Mechanisms Conference,Kissimmee, Florida, September 25-28, 1988, pp. 429-440.

"Path Planning of Redundant Industrial Robots for Aerospace Assembly,"
S. Derby and P. Dupont, Proceedings of the SME FASTEC '87 Conference, Atlanta, Georgia, October 27-29, 1987, pp. 317-330.

"Planning Collision Free Paths for Redundant Robots Using a Selective Search of Configuration Space," P. Dupont and S. Derby, Design Engineering Technical Conference, Columbus, Ohio, October 5-8, 1986, ASME Paper No.86-DET-145.

Back to top

Friction Modeling and Compensation

Project Description

"Stability of Frictional Contact in Constrained Rigid-body Dynamics"
P. Dupont and S. Yamajako, IEEE Transactions on Robotics and Automation, Vol. 13, No. 2, April 1997, pp. 230-236.

"Perturbation Stability of Frictional Sliding with Varying Normal Force,"
P. Dupont and D. Bapna, ASME Journal of Vibration and Acoustics, Vol. 118, No. 3, July 1996, pp. 491-497.

"Friction Modeling and PD Compensation at Very Low Velocities,"
P. Dupont and E. Dunlap, ASME Journal of Dynamic Systems, Measurement and Control, Vol. 117, No. 1, March 1995, pp. 8-14.

"Stability of Sliding Frictional Surfaces with Varying Normal Force,"
P. Dupont and D. Bapna, ASME Journal of Vibration and Acoustics, Vol. 116, No. 2, April 1994, pp. 237-242.

"A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines with Friction,"
B. Armstrong-Helouvry, P. Dupont and C. Canudas de Wit, Automatica, Vol. 30, No. 7, July 1994, pp. 1083-1138.

"Avoiding Stick-slip Through PD Control,"
P.Dupont, IEEE Transactions on Automatic Control, Vol. 39, No. 5, May 1994, pp. 1094-1097.

"Friction in Servo Machines: Analysis and Control Methods,"
B. Armstrong-Helouvry, P. Dupont and C. Canudas de Wit, Applied Mechanics Reviews, Special Issue on Friction Induced Vibration, R. A. Ibrahim and E. Rivin, ed., Vol. 47 No. 7, July 1994, pp. 275-305.

"Existence and Uniqueness of Rigid-Body Dynamics with Coulomb Friction,"
P. Dupont, Transactions of the Canadian Society for Mechanical Engineering, Vol. 17, No. 4A, 1993, pp. 513-525.

"The Effect of Friction on the Forward Dynamics Problem,"
P. Dupont, International Journal of Robotics Research, Vol. 12, No. 2, April 1993, pp. 164-79.

"Analysis of Frictional Contact Models for Dynamic Simulation,"
P. Kraus, V. Kumar and P. Dupont, Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998.

"Friction Modeling and Control in Boundary Lubrication,"
P. Dupont and E. Dunlap, Proceedings of the 1993 American Control Conference, San Francisco, CA, June 1993, pp. 1910-1914.

"Friction Modeling for Control,"
B.Armstrong-Helouvry and P. Dupont, Proceedings of the 1993 American Control Conference,San Francisco, CA, June 1993, pp. 1905-1909.

"Compensation Techniques for Servos with Friction,"
P. Dupont and B. Armstrong-Helouvry, Proceedings of the 1993 American Control Conference, San Francisco, CA, June 1993, pp. 1915-1919.

"The Effect of Coulomb Friction on the Existence and Uniqueness of the Forward Dynamics Problem,"
P. Dupont, Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 1992,pp. 1442-1447.

"The Use of Compliance to Resolve the Existence and Uniqueness of the Forward Dynamics Solution with Coulomb Friction,"
P. Dupont, Proceedings of the CSME Forum 1992, Montreal, Canada, June 1992, pp. 537-542.

"Friction Modeling in Dynamic Robot Simulation,"
P. Dupont, Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 1990, pp. 1370-1376.

Back to top

Mechanics of Mobility

Project Description

"Simple Controllable Walking Mechanisms which Exhibit Bifurcations,"
To appear in the Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, Florida, December 16-18, 1998.

Abstract: "We introduce an extremely simple, two-dimensional, pendulum-driven biped robot model and study its simplest locomotion strategy. The model is inspired by the slope-driven, passive-dynamic biped models of McGeer and the simplifying mass-distribution assumptions of Garcia, et al. The pendulum-driven biped is composed of two identical rigid legs connected at the hip by a frictionless, unactuated hinge. A point-mass pendulum, also attached at the hip, is held by an actuator at a constant angle in front of the biped. The actuator reacts against the stance leg, allowing the pendulum to be thought of as a torso. The equilibrium gait behavior of the pendulum-driven biped on level ground is compared, via homotopy continuation, to that of the well-studied slope-driven biped. Numerical simulation shows that the pendulum-driven biped model exhibits the same richness of gait behaviors (including period-doubling bifurcations) as slope-driven biped models, yet its gait behavior is easier to study. The homotopy continuation method is then used to find the location of previously-unreported stable period-3 gaits for the slope-driven biped."

Back to top