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Darwin G. Caldwell
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Journal Articles

Design and Analysis of a Fully Actuated Cable-Driven Joint for Hyper-Redundant Robots With Optimal Cable Routing

Paolo Guardiani, Daniele Ludovico, Alessandro Pistone, Haider Abidi, Isiah Zaplana, Jinoh Lee, Darwin G. Caldwell, Carlo Canali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021006.
Paper No: JMR-20-1578
https://doi.org/10.1115/1.4052332
Published Online: September 21, 2021
View Article titled, Design and Analysis of a Fully Actuated Cable-Driven Joint for Hyper-Redundant Robots With Optimal Cable Routing
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Topics: Cables, Design, Robots, Optimization, Kinematics
Journal Articles

Design and Modeling of a Three-Degree-of-Freedom Articulating Robotic Microsurgical Forceps for Trans-Oral Laser Microsurgery

Manish Chauhan, Nikhil Deshpande, Darwin G. Caldwell, Leonardo S. Mattos
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. June 2019, 13(2): 021006.
Paper No: MED-18-1170
https://doi.org/10.1115/1.4043017
Published Online: April 4, 2019
View Article titled, Design and Modeling of a Three-Degree-of-Freedom Articulating Robotic Microsurgical Forceps for Trans-Oral Laser Microsurgery
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Topics: Design, Lasers, Robotics, Rotation, Surgery, Manipulators, Instrumentation
Proceedings Papers

Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures

Janne Koivumäki, Jouni Mattila, Claudio Semini, Darwin G. Caldwell
Proc. ASME. FPMC2017, ASME/BATH 2017 Symposium on Fluid Power and Motion Control, V001T01A030, October 16–19, 2017
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2017-4261
https://doi.org/10.1115/FPMC2017-4261
View Paper titled, Stability-Guaranteed Nonlinear Model-Based Control of Hydraulically Actuated Lightweight Structures
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Topics: Lightweight structures, Stability, Control equipment, Design, Manipulators, Robotics, Friction, Inertia (Mechanics), Weight (Mass), Actuators
Proceedings Papers

Dexterous Gripper Synthesis From Modular Finger Approach

Nahian Rahman, Carlo Canali, Darwin G. Caldwell, Ferdinando Cannella
Proc. ASME. IDETC-CIE2017, Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, V009T07A043, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67708
https://doi.org/10.1115/DETC2017-67708
View Paper titled, Dexterous Gripper Synthesis From Modular Finger Approach
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Topics: Grippers, Degrees of freedom, Design, End effectors, Grasping, Modeling, Sensors
Proceedings Papers

A Novel Reconfigurable Modular Gripper for In-Hand Object Manipulation and Release With Appropriate Posture

Nahian Rahman, Luca Carbonari, Mariapaola D’Imperio, Carlo Canali, Darwin G. Caldwell, Ferdinando Cannella
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A068, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59837
https://doi.org/10.1115/DETC2016-59837
View Paper titled, A Novel Reconfigurable Modular Gripper for In-Hand Object Manipulation and Release With Appropriate Posture
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Topics: Grippers, Grasping, Design, Engineering prototypes, Inspection, Mechanical admittance, Simulation
Proceedings Papers

Dynamic Modelling and Analysis of an Articulated Robotic Leg

Mariapaola D’Imperio, Ferdinando Cannella, Luca Carbonari, Nahian Rahman, Darwin G. Caldwell
Proc. ASME. IDETC-CIE2015, Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, V009T07A074, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47140
https://doi.org/10.1115/DETC2015-47140
View Paper titled, Dynamic Modelling and Analysis of an Articulated Robotic Leg
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Topics: Dynamic modeling, Robotics, Engineering simulation, Robots, Simulation
Proceedings Papers

Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling

Emmanouil Spyrakos-Papastavridis, Gustavo Medrano-Cerda, Jian S. Dai, Darwin G. Caldwell
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1481-1488, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71066
https://doi.org/10.1115/DETC2012-71066
View Paper titled, Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling
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Topics: Modeling, Pendulums, Stability, Clearances (Engineering), Robotics, Robots, Simulation results
Proceedings Papers

Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg

Shuang Peng, David T. Branson, III, Emanuele Guglielmino, Thiago Boaventura, Darwin G. Caldwell
Proc. ASME. ESDA2012, Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 227-234, July 2–4, 2012
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2012-82262
https://doi.org/10.1115/ESDA2012-82262
View Paper titled, Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg
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Topics: Hydraulics, Robots
Proceedings Papers

Fast and Adaptive Hopping Height Control of Single-Legged Robot

Jawaad Bhatti, Andrew R. Plummer, M. Necip Sahinkaya, Pejman Iravani, Emanuele Guglielmino, Darwin G. Caldwell
Proc. ASME. ESDA2012, Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 303-309, July 2–4, 2012
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2012-82564
https://doi.org/10.1115/ESDA2012-82564
View Paper titled, Fast and Adaptive Hopping Height Control of Single-Legged Robot
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Topics: Robots
Journal Articles

Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

Tianjiang Zheng, David T. Branson, Emanuele Guglielmino, Rongjie Kang, Gustavo A. Medrano Cerda, Matteo Cianchetti, Maurizio Follador, Isuru S. Godage, Darwin G. Caldwell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021004.
Paper No: JMR-12-1047
https://doi.org/10.1115/1.4023636
Published Online: March 26, 2013
View Article titled, Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments
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Topics: Actuators, Cables, Dynamic models, Engineering prototypes, Gravity (Force), Kinematics, Model validation, Muscle, Robotics, Stiffness
Journal Articles

Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition

Dongming Gan, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2013, 5(1): 011002.
Paper No: JMR-12-1034
https://doi.org/10.1115/1.4007492
Published Online: October 1, 2012
View Article titled, Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition
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Topics: Design, Manipulators, Stiffness, Torque, End effectors
Proceedings Papers

Stiffness Design for Compliant Manipulators Based on Dynamics Analysis of the Impact Configuration

Dongming Gan, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 103-112, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47636
https://doi.org/10.1115/DETC2011-47636
View Paper titled, Stiffness Design for Compliant Manipulators Based on Dynamics Analysis of the Impact Configuration
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Topics: Design, Dynamics (Mechanics), Manipulators, Stiffness, Actuators, End effectors, Robots, System dynamics, Torque
Proceedings Papers

A Vibration Study of a Hydraulically-Actuated Legged Machine

Emanuele Guglielmino, Ferdinando Cannella, Claudio Semini, Darwin G. Caldwell, Nestor Eduardo Nava Rodri´guez, Guillermo Vidal
Proc. ASME. IMECE2010, Volume 8: Dynamic Systems and Control, Parts A and B, 1077-1083, November 12–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2010-37514
https://doi.org/10.1115/IMECE2010-37514
View Paper titled, A Vibration Study of a Hydraulically-Actuated Legged Machine
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Topics: Machinery, Vibration, Noise (Sound), Robotics, Robots, Energy consumption, Fluids, Hammers, Manufacturing, Modal analysis
Journal Articles

Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction

Dongming Gan, Jian S. Dai, Darwin G. Caldwell
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2011, 133(5): 051001.
https://doi.org/10.1115/1.4003920
Published Online: June 2, 2011
View Article titled, Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction
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Topics: Mechanical admittance, Parallel mechanisms, Construction
Proceedings Papers

Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction

Dongming Gan, Jian S. Dai, Darwin G. Caldwell
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 877-887, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28865
https://doi.org/10.1115/DETC2010-28865
View Paper titled, Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction
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Topics: Construction, Mechanical admittance, Parallel mechanisms
Journal Articles

Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity

Jody A. Saglia, Jian S. Dai, Darwin G. Caldwell
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. December 2008, 130(12): 124501.
https://doi.org/10.1115/1.2988472
Published Online: October 8, 2008
View Article titled, Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity
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Topics: Jacobian matrices, Parallel mechanisms, Struts (Engineering), Geometry