ROMANSY 18 - Robot Design, Dynamics and Control: Proceedings of the Eighteenth CISM-IFToMM Symposium

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Werner Schiehlen, Vincenzo Parenti-Castelli
Springer Science & Business Media, Jan 28, 2011 - Technology & Engineering - 488 pages
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The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, education, medical, space, welfare and rescue robots, humanoid robots, bio-robotics, multi-robot, embodied multi-agent systems, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on humanoid robots from leading Japanese researchers are included.
 

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Contents

Where Future Robots should Go and should not Go
3
Robust Drives for Parallel Robots
19
MInimalForm Multibody Dynamiccs for Embed Multidisciplinary Applications
29
Chapter I Novel Robot Design and Robot ModulesComponents
39
Constructive Redesign of a Modular Metamorphic Microgripper
40
A OneMotor FullMobility 6PUS Manipulator
49
Dynamic Hybrid PositionForce Control for Parallel Robot Manipulators
57
Decoupled Parallel Manipulator with Universal Joints and Additional Constraints
65
Static and Dynamic Maneuvers With a TendonCoupled Biped Robot
265
Chapter IV Control Modelling and Analysis of Robotic Systems
273
Kinematic Calibration of Small Robotic Work Spaces Using Fringe Projection
274
a Comparison Among Different Models
283
Workspace Generation of Planar WireActuated Parallel Manipulators with Antipodal Method
291
Trajectory Following and Vibration Control for Flexiblelink Manipulators
299
Shaking Forces Minimization of HighSpeed Robots via an Optimal Motion Planning
307
Passivity Based Backstepping Control of an Elastic Robot
315

A 4R Serial Manipulator Having a Surface of Isotropic Positioning
73
Joint space and workspace analysis of a twoDOF closedchain manipulator
81
Identification of Base Parameters for Largescale Kinematic Chains Based on Polyhedral Convex Cones
91
Modeling Effects on Free Vibration of a TwoLink Flexible Manipulator
99
Strategies and Tuning Methods
109
On Solving the Forward Kinematics of the 66 General Parallel Manipulator with an Efficient Evolutionary Algorithm
117
Determination of Mobility in a Kinematic Chain by Properly Using the Jacobian Matrix
125
Micro Hinges and their Application to Micro Robot Mechanisms
133
Parallel RPR RPR Manipulator Generating 2DOF Translation along OneSheet Revolute Hyperboloid
141
A Study on the Effects of Cable Mass and Elasticity in CableBased Parallel Manipulators
149
Chapter II Service Education Medical Space Welfare and Rescue Robots
157
An Endogenous Configuration Space Approach
158
A Novel StairClimbing Wheelchair with Variable Configuration FourBar Linkage Mechanism Design and Kinematics
167
Motion and Force measures on tortoises to design and control a biomimetic quadruped robot
175
Mechanism Design Improvements of the Airway Man agementTraining System WKA3
183
Design for a DualArm Space Robot
191
Mechanical Design of a Novel Biped Climbing and Walking Robot
199
Chapter III Humanoid Robots BioRobotics MultiRobot MultiAgent Systems
207
Development of the Anthropomorphic Waseda Saxophonist Robot
209
Design and Simulation of a WaistTrunk System for a Humanoid Robot
217
Safe Navigation in Dynamic Environments
225
Development of a Visual Interface for Sound Parameter Calibration of the Waseda Flutist Robot WF4RIV
233
Simulation of a Humanoid Robot walking gait on Moon Surface
241
Development of New Biped Foot Mechanism Mimicking Humans Foot Arch Structure
249
Design and Development of Biomimetic Quadruped Robot
257
Economical Control of Robot Systems Using Potential Energy
323
Motion Control of an UnderActuated Service Robot Using Natural Coordinates
331
Control Law Synthesis for Slip Reduction of Wheeled Robot
339
A Kinematic Model of the TibioTalar Joint Using a Minimum Energy Principle
347
Chapter V Innovations in Sensor Systems for Robots and Perception
357
Development of the Ultrasound Probe Holding Robot WTA1RII and an Automated Scanning Algorithm based on Ultrasound Image Feedback
359
RFIDAssisted Detection and Handling of Packages
367
Virtual Haptic Map Using Haptic Disply Technology for Visually Impaired
375
EXTRACTION OF SEMANTIC INFORMATION FROM THE 3D LASTER RANGE FINDER
383
THE APPLICATION OF ICP AND SIFT ALGORITHMS FOR MOBILE ROBOT LOCALIZATION
391
Estimation of Complex Anatomical Joint Motions Using a Spatial Goniometer
399
Chapter VI Recent Advances in Robotics
407
Modeling and Motion Planning for a Population of Mobile Robots
408
Reconfigurable Planar ThreeLegged Parallel Manipulators
417
MultiObjective Trajectory Planning in WireActuated Parallel Manipulators
425
Design of the Facial Expression Mechanism for Humanoid Robots
433
A Method for Comparing Human Postures From Motion Capture Data
441
Evaluation of the KOBIAN and HABIAN Emotion Expression Humanoid Robots with European Elderly People1
449
An Approach to the Dynamics and Kinematical Control of Mtion Systems Consisting of a Chain of Bodies
457
Modular Design of Emotion Expression Humanoid Robot KOBIAN
465
A RandomProfile Approach for Trajectory Planning of Wheeled Mobile Robots With nonSlipping Constraint
473
The Second Type of Singularity Analysis of the New Parallel Manipulator with 6 DegreeofFreedom
481
Author Index
489
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