Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017

Front Matter ....Pages i-xix
Front Matter ....Pages 1-1
 Comparative Analysis of Quasi-Differential Approaches in Inverse Kinematics  (Bertalan Csanádi, János F. Bitó, Imre J. Rudas, József K. Tar)....Pages 3-10
 A Novel Single-Loop Decoupled Schoenflies-Motion Generator: Concept and Kinematics Analysis  (Raffaele Di Gregorio)....Pages 11-18
 A Comparative Study of Three Manipulator Performance Measures  (Vassilis C. Moulianitis, Eleftherios F. Katrantzis, Nikos A. Stravopodis, Nikos A. Aspragathos)....Pages 19-27
 Analysis of Constraint Singularities of a 2-DOF Spatial Parallel Mechanism  (Stefano Mauro, Gabriele Biondi)....Pages 28-35
 Central Active Mechanism for Unmanned Space Docking  (Stefano Mauro, Tharek Mohtar, Stefano Pastorelli, Massimo Sorli)....Pages 36-45
 On the Mechatronic Design of a Low-Cost 6-DoFs Parallel Kinematic Manipulator  (Hermes Giberti, Enrico Fiore, Alessansdro Saccomani)....Pages 46-54
 Behaviour-Based Inverse Kinematics Solver on FPGA  (Alexander Köpper, Karsten Berns)....Pages 55-62
 A Novel Reconfigurable 3-URU Parallel Platform  (Luca Carbonari, David Corinaldi, Matteo Palpacelli, Giacomo Palmieri, Massimo Callegari)....Pages 63-73
 Mechatronic Design and Control of a 3-RPS Parallel Manipulator  (Giorgio Figliolini, Chiara Lanni, Pierluigi Rea, Tommaso Gallinelli)....Pages 74-81
Front Matter ....Pages 83-83
 Force Analysis for the Impact Between a Rod and Granular Material  (Memduh Arsalan, Hamid Ghaednia, Dan B. Marghitu, Dorian Cojocaru)....Pages 85-94
 Cooperative Distance Measurement for an Anti-aircraft Battery  (Karol Dobrovodský, Pavel Andris)....Pages 95-101
 Collision Avoidance of Robots by Artificial Force Field Around Geometric Primitives Using Two Range Image Sensors  (Christian Thormann, Alexander Winkler)....Pages 102-112
 Using Compliancy for Autonomous Execution of Path Following Tasks  (Leon Žlajpah, Nejc Likar)....Pages 113-120
 Study Concerning a Robotic System with Matlab/OpenCV Post-processing  (Victor Constantin, Ciprian Ion Rizescu, Mihai Ciocan, Dana Rizescu)....Pages 121-129
 Output Control of a Class of Hyper-redundant Robots  (Mircea Ivanescu, Mircea Nitulescu, Nguyen Van Dong Hai, Mihaela Florescu)....Pages 130-137
 Using Virtual Sensors in Industrial Manipulators for Service Algorithms Like Payload Checking  (Marina Indri, Stefano Trapani)....Pages 138-146
 Robust Motion Control of a Soft Robotic System Using Fractional Order Control  (Bastian Deutschmann, Christian Ott, Concepcion A. Monje, Carlos Balaguer)....Pages 147-155
 FloBaRoID — A Software Package for the Identification of Robot Dynamics Parameters  (Stefan Bethge, Jörn Malzahn, Nikolaos Tsagarakis, Darwin Caldwell)....Pages 156-165
 Implementation of a Fractional-Order Control for Robotic Applications  (Luca Bruzzone, Vittorio Belotti, Pietro Fanghella)....Pages 166-173
 Real-Time Computation of Inexact Minimum-Energy Trajectories Using Parametric Sensitivities  (Alexander Reiter, Hubert Gattringer, Andreas Müller)....Pages 174-182
 Sensor-Based Loops and Branches for Playback-Programmed Robot Systems  (Michael Riedl, Eric M. Orendt, Dominik Henrich)....Pages 183-190
 On Latencies and Noise Effects in Vision-Based Control of Mobile Robots  (Mohammad M. Aref, Juho Vihonen, Reza Ghabcheloo, Jouni Mattila)....Pages 191-199
 A Novel Method for Geometric Robot Calibration Using Laser Pointer and Cameras  (Hubert Gattringer, Matthias Neubauer, Dominik Kaserer, Andreas Müller)....Pages 200-207
 Redundant Robotic Manipulator Path Planning for Real-Time Obstacle and Self-Collision Avoidance  (Tuomo Kivelä, Jouni Mattila, Jussi Puura, Sirpa Launis)....Pages 208-216
 A Low-Cost Experimental Device for Compliant Physical Human-Robot Interaction  (Daniel Rácz, Mátyás Takács, Péter Galambos, János Somló)....Pages 217-226
 Using Spring-Damper Elements to Support Human-Like Push Recovery Motions  (Ruth Malin Kopitzsch Schemschat, Katja Mombaur)....Pages 227-241
 Validation of Relevant Parameters of Sensitive Manipulators for Human-Robot Collaboration  (David Kirschner, Andreas Schlotzhauer, Mathias Brandstötter, Michael Hofbaur)....Pages 242-252
Front Matter ....Pages 253-253
 Preliminary Design of an Electropneumatic Automatic Machine for Herbaceous Grafting  (Guido Belforte, Gabriella Eula, Terenziano Raparelli, Silvia Sirolli, Pietro Piccarolo, Paolo Gay et al.)....Pages 255-263
 A Falling Motion Strategy for Humanoids Based on Motion Primitives of Human Falling  (Libo Meng, Zhangguo Yu, Weimin Zhang, Xuechao Chen, Marco Ceccarelli, Qiang Huang)....Pages 264-272
 Legged Robot Strategies for Climbing Stairs  (M. Nițulescu, M. Ivănescu, S. Mănoiu-Olaru, V. D. H. Nguyen)....Pages 273-280
 Kinematic Path Control of a Redundant Robot Arm in Sliding Mode  (Evgeniy Krastev)....Pages 281-288
 Precise Positioning of a Robotic Arm Manipulator Using Stereo Computer Vision and Iterative Learning Control  (Kaloyan Yovchev, Denis Chikurtev, Nayden Chivarov, Nedko Shivarov)....Pages 289-296
 A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot  (Stefano Dafarra, Francesco Romano, Francesco Nori)....Pages 297-305
 Neural Networks for Real-Time, Probabilistic Obstacle Detection  (Tobias Werner, Josua Bloeß, Dominik Henrich)....Pages 306-313
Front Matter ....Pages 315-315
 Cloud Robot Vision Services Extend High-Performance Computing Capabilities of Robot Systems  (Florin Daniel Anton, Theodor Borangiu, Silvia Anton, Silviu Raileanu)....Pages 317-327
 A Robotic 3D Vision System for Automatic Cranial Prostheses Inspection  (Maria Cristina Valigi, Silvia Logozzo, Gabriele Canella)....Pages 328-335
 Automated, Depth Sensor Based Object Detection and Path Planning for Robot-Aided 3D Scanning  (Jakob Ziegler, Hubert Gattringer, Dominik Kaserer, Andreas Müller)....Pages 336-343
 Collision Avoidance System for Collaborative Robotics  (Stefano Mauro, Leonardo Sabatino Scimmi, Stefano Pastorelli)....Pages 344-352
Front Matter ....Pages 353-353
 Design and Construction of a Demonstrative HeritageBot Platform  (Marco Ceccarelli, Daniele Cafolla, Matteo Russo, Giuseppe Carbone)....Pages 355-362
 Estimation of the Traversal Time for a Fleet of Industrial Transport Robots  (Clemens Mühlbacher, Stefan Gspandl, Micheal Reip, Gerald Steinbauer)....Pages 363-371
 Adapting Edge Weights for Optimal Paths in a Navigation Graph  (Clemens Mühlbacher, Stefan Gspandl, Micheal Reip, Gerald Steinbauer)....Pages 372-380
 Advanced Modelling Techniques for Flexible Robotic Systems  (Mariapaola D’Imperio, Cristiano Pizzamiglio, Daniele Ludovico, Darwin G. Caldwell, Giancarlo Genta, Ferdinando Cannella)....Pages 381-388
 Autonomous Mobile Manipulation Using ROS  (Heiko Engemann, Patrick Wiesen, Stephan Kallweit, Harshavardhan Deshpande, Josef Schleupen)....Pages 389-401
Front Matter ....Pages 403-403
 Team of Pneumatic ASi-Controlled Climber Robots for Ships Inspection  (Enrico Ravina)....Pages 405-413
 Elasto-Kinematic Characteristics of Car Suspensions with Magneto-Rheological Bushings  (Renato Brancati, Giandomenico Di Massa, Ernesto Rocca, Cesare Rossi, Sergio Savino, Francesco Timpone)....Pages 414-423
 Delay-Dependent Criteria for Robust Dynamic Stability Control of Articulated Vehicles  (Mojtaba Sharifzadeh, Arash Farnam, Adolfo Senatore, Francesco Timpone, Ahmad Akbari)....Pages 424-432
 Comparison of Modelling Tools for the Assessment of the Parameters of Driving Assistance Solutions  (Flavio Farroni, Guido Fusco, Luigi Pariota, Sebastian Rosario Pastore, Aleksandr Sakhnevych, Francesco Timpone)....Pages 433-443
 Modeling, Simulation and Control of a 4WD Electric Vehicle with In-Wheel Motors  (Raffaele Iervolino, Aleksandr Sakhnevych)....Pages 444-455
 Path Tracking Control for Autonomous Driving Applications  (Antonio Tota, Mauro Velardocchia, Levent Güvenç)....Pages 456-467
Front Matter ....Pages 469-469
 Electromagnetic Characterization of Installed Antennas Through UAVs  (Irene Aicardi, Pietro Bolli, Andrea Maria Lingua, Fabio Paonessa, Marco Piras, Giuseppe Virone)....Pages 471-482
 Remote Sensing from RPAS in Agriculture: An Overview of Expectations and Unanswered Questions  (Enrico Borgogno Mondino)....Pages 483-492
 A Self-adapting Method for 3D Environment Exploration Inspired by Swarm Behaviour  (Ján Zelenka, Tomáš Kasanický, Ivana Budinská)....Pages 493-502
 Analysis & Modelling of Powertrain Components for an Efficient UAV Design  (Mario Silvagni, Marcello Chiaberge, Federico Tessari)....Pages 503-515
 Camera Selection and Flight Planning for Post Processing 3D Reconstruction Automatization  (Mario Silvagni, Marcello Chiaberge, Abdalla Osman)....Pages 516-527
 A Modular Cloud Robotics Architecture for Data Management and Mission Handling of Unmanned Robotic Services  (Mario Silvagni, Marcello Chiaberge, Claudio Sanguedolce, Gianluca Dara)....Pages 528-538
 Application of an Inspection Robot Composed by Collaborative Terrestrial and Aerial Modules for an Operation in Agriculture  (Roberto Grassi, Pierluigi Rea, Erika Ottaviano, Paolo Maggiore)....Pages 539-546
Front Matter ....Pages 547-547
 Airbrush Robotic Painting System: Experimental Validation of a Colour Spray Model  (Lorenzo Scalera, Enrico Mazzon, Paolo Gallina, Alessandro Gasparetto)....Pages 549-556
 Spring Design for Motor Torque Reduction in Articulated Mechanisms  (Paolo Boscariol, Giovanni Boschetti, Paolo Gallina, Chiara Passarini)....Pages 557-564
 A Robotic Design for a MIM Based Technology  (Hermes Giberti, Luca Sbaglia)....Pages 565-572
 Robust One-Shot Robot Programming by Demonstration Using Entity-Based Resources  (Eric M. Orendt, Michael Riedl, Dominik Henrich)....Pages 573-582
 The “Robot Mechanics” Course Experience at Politecnico di Milano  (Hermes Giberti, Enrico Fiore)....Pages 583-590
 Mechatronic Design and Prototype of a 4-DOFs Hot-Wire CNC Cutting Machine  (Giorgio Figliolini, Pierluigi Rea, Carlo Cocomello)....Pages 591-598
Front Matter ....Pages 599-599
 Development of a NEMS-Technology Based Nano Gripper  (Andrea Veroli, Alessio Buzzin, Rocco Crescenzi, Fabrizio Frezza, Giampiero de Cesare, Vito D’Andrea et al.)....Pages 601-611
 A 3-Finger Robotic Gripper for Grasping Fabrics Based on Cams-Followers Mechanism  (Panagiotis Ν. Koustoumpardis, Sotiris Smyrnis, Nikos Α. Aspragathos)....Pages 612-620
 Experimental Results for QuBu Gripper: A 3-Jaw Electric Gripper  (Giuseppe Quaglia, Luca Girolamo Butera)....Pages 621-629
 Experimental Evaluation and Comparison of Low-Cost Adaptive Mechatronic Grippers  (Giovanni Carabin, Ilaria Palomba, Dominik Matt, Renato Vidoni)....Pages 630-637
 The Experience at University of L’Aquila on Shape Memory Alloys Actuators  (Francesco Durante, Pierluigi Beomonte Zobel, Terenziano Raparelli)....Pages 638-645
Front Matter ....Pages 647-647
 Human Robot Interaction Using Dynamic Hand Gestures  (Zuhair Zafar, Daniel Alejandro Salazar, Salah Al-Darraji, Djordje Urukalo, Karsten Berns, Aleksandar Rodić)....Pages 649-656
 Ability of Humanoid Robot to Perform Emotional Body Gestures  (Djordje Urukalo, Ljubinko Kevac, Zuhair Zafar, Salah Al-Darraji, Aleksandar Rodić, Karsten Berns)....Pages 657-664
 Supporting a Human-Aware World Model Through Sensor Fusion  (Dominik Riedelbauch, Tobias Werner, Dominik Henrich)....Pages 665-672
 Interactive Communication Between Human and Robot Using Nonverbal Cues  (Salah Al-Darraji, Zuhair Zafar, Karsten Berns, Djordje Urukalo, Aleksandar Rodić)....Pages 673-680
 Building of Hyper-redundant Under-Actuated Soft Robotic Arm with 20 DOF  (Ilija Stevanović, Aleksandar Rodić, Miloš Jovanović, Marija Tomić)....Pages 681-688
Front Matter ....Pages 689-689
 Structure Optimization of the Cable Driven Legs Trainer  (Houssein Lamine, Med Amine Laribi, Sami Bennour, Lotfi Romdhane, Said Zeghloul)....Pages 691-698
 A Novel Kinematic of a 4 d.o.fs Haptic Device Based on the Delta Robot Architecture  (Houssem Saafi, Celestin Preault, Med Amine Laribi, Said Zeghloul)....Pages 699-706
 Design and Operation of a Novel Hexapod Robot for Surveillance Tasks  (Fernando Gomez-Bravo, Pablo Villadoniga, Giuseppe Carbone)....Pages 707-715
Front Matter ....Pages 717-717
 Design and Lab Tests of a Scaled Leg Exoskeleton with Electric Actuators  (Cristian A. Iancu, Marco Ceccarelli, Erwin-Christian Lovasz)....Pages 719-726
 Textile Rotary Pneumatic Actuator for Rehabilitation  (Terenziano Raparelli, Alexandre Ivanov, Fabio Eduardo Palladino)....Pages 727-734
 Neural and Physiological Measures to Classify User’s Intention and Control Exoskeletons for Rehabilitation or Assistance: The Experience @NearLab  (Simona Ferrante, Emilia Ambrosini, Claudia Casellato, Marta Gandolla, Alessandra Pedrocchi, Giancarlo Ferrigno)....Pages 735-745
 Lower Limb Exoskeleton with Hybrid Pneumaticaly Assisted Electric Drive: Models  (Igor Orlov, Anton Aliseychik, Elena Kolesnichenko, Vladimir Pavlovsky, Dmitry Gribkov, Alexey Podoprosvetov)....Pages 746-755
Front Matter ....Pages 757-757
 Exoskeleton for Gait Training in Spinal Cord Injured People: Clinical Analysis and Ethical Dilemmas  (Luciano Bissolotti, Paola Zuccher, Andrea Zenorini, Sonia Chiari, Paolo Gaffurini, Armando Pasini et al.)....Pages 759-765
 Wearable Hearing Support System Tapping Toward Sound Source  (Ryuichi Shimoyama, I. Syou)....Pages 766-777
 Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton  (Miha Dežman, Jan Babič, Andrej Gams)....Pages 778-786
 Shared Control for Human-Robot Cooperative Manipulation Tasks  (Tadej Petrič, Mišel Cevzar, Jan Babič)....Pages 787-796
 Open Source EMG Device for Controlling a Robotic Hand  (Mišel Cevzar, Tadej Petrič, Jan Babič)....Pages 797-804
 Assistive Strategies for a Back Support Exoskeleton: Experimental Evaluation  (Stefano Toxiri, Jesús Ortiz, Darwin G. Caldwell)....Pages 805-812
 FEX a Fingers Extending eXoskeleton for Rehabilitation and Regaining Mobility  (Patrizio Sale, Giovanni Stellin, Stefano Masiero, Francesco Becchi, Wiktor Sieklicki)....Pages 813-824
 Ankle Prosthesis with an Active Control of the Pitch and the Release of the Energy  (Michele Gabrio Antonelli, Stefano Alleva, Francesco Durante, Pierluigi Beomonte Zobel)....Pages 825-832
 Development of an Active Orthosis for Inferior Limb with Light Structure  (Francesco Durante, Pierluigi Beomonte Zobel, Terenziano Raparelli)....Pages 833-841
Front Matter ....Pages 843-843
 P.I.G.R.O.: An Active Exoskeleton for Robotic Neurorehabilitation Training Driven by an Electro-Pneumatic Control  (Katiuscia Sacco, Guido Belforte, Gabriella Eula, Terenziano Raparelli, Silvia Sirolli, Elisabetta Geda et al.)....Pages 845-853
 Study and Experimentation of Innovative Textile Pneumatic Muscle Prototypes  (Guido Belforte, Gabriella Eula, Alexandre Ivanov, Terenziano Raparelli, Silvia Sirolli)....Pages 854-861
 Design and Control of Linkage Exoskeletons in Wheelchair  (Gao Huang, Marco Ceccarelli, Weimin M. Zhang, Fei Meng, Tao Sun, Qiang Huang)....Pages 862-869
 An Ethical Reflection on the Application of Cyber Technologies in the Field of Healthcare  (Adelaide Conti, Elena Azzalini, Cinzia Amici, Valter Cappellini, Rodolfo Faglia, Paola Delbon)....Pages 870-876
 Hand Robotic Rehabilitation: From Hospital to Home  (Alberto Borboni, Mauro Serpelloni, Michela Borghetti, Cinzia Amici, Francesco Aggogeri, Davide Fausti et al.)....Pages 877-884
 Cardiopulmonary Resuscitation Devices: Preliminary Analysis  (Riccardo Adamini, Francesco Aggogeri, Manuela Baronio, Alberto Borboni, Elisabetta Dal Gal, Nicola Pellegrini et al.)....Pages 885-891
 ERRSE: Elbow Robotic Rehabilitation System with an EMG-Based Force Control  (Monica Tiboni, Giovanni Legnani, Matteo Lancini, Mauro Serpelloni, Massimiliano Gobbo, Davide Fausti)....Pages 892-900
 Path’s Slicing Analysis as a Therapist’s Intervention Tool for Robotic Rehabilitation  (Mozafar Saadat, Alireza Rastegarpanah, Che Zulkhairi Abdullah, Hamid Rakhodaei, Alberto Borboni, Marco Maddalena)....Pages 901-910
 Surface EMG for Human-Machine Interfaces: New Knowledge and Open Issues  (Marco Gazzoni, Alberto Botter, Taian Vieira)....Pages 911-918
 Upper Limb Rehabilitation Robotic System Requirements Analysis  (Dorin Popescu, Florin Manta, Ligia Rusu, Taina Elena Avramescu, Mihaela Zavaleanu)....Pages 919-927
Front Matter ....Pages 929-929
 Human Energy Involved in Manual and Mechanically Facilitate Harvesting of Saffron Flowers  (Andrea Manuello Bertetto, M. Garau, R. Ricciu, Gianmario Satta, P. Chiappori, Alberto Concu)....Pages 931-938
 Stiffness Characterization of Biological Tissues by Means of MEMS-Technology Based Micro Grippers Under Position Control  (Alvise Bagolini, Pierluigi Bellutti, Paolo Di Giamberardino, Imre J. Rudas, Vito D’Andrea, Matteo Verotti et al.)....Pages 939-947
 Bio-Mechatronic Modules for Robotic Massage  (Maksim Arkhipov, Igor Orlov, Vadim Golovin, Liudmila Kocherevskaya, Vzhesnevsky Evgeny, Uglev Aleksander)....Pages 948-955
 Control of Force Impulse in Human-Machine Impact  (Carlo De Benedictis, Walter Franco, Daniela Maffiodo, Carlo Ferraresi)....Pages 956-964
 Dionis Surgical Positioner  (Jeremy Olivier, Jerry Bielmann, Mohamed Bouri, Hannes Bleuler)....Pages 965-971
 Method for Measuring the Displacement of Cadaveric Elbow After the Section of Medial Collateral Ligament Anterior and Posterior Bundles  (Daniele Borzelli, Laura Gastaldi, Cristina Bignardi, Alberto Audenino, Mara Terzini, Arman Sard et al.)....Pages 972-979
 A New Testing Device for the Role of the Trunk in Force Production and in Balance Control in Disabled Sitting Athletes  (Valeria Rosso, Laura Gastaldi, Walter Rapp, Benedikt Fasel, Yves Vanlandewijck, Stefan Lindinger et al.)....Pages 980-987
 Two-Segments Foot Model for Biomechanical Motion Analysis  (Elisa Panero, Laura Gastaldi, Walter Rapp)....Pages 988-995
 Validation of Three KUKA Agilus Robots for Application in Neurosurgery  (Marko Švaco, Petar Koren, Bojan Jerbić, Josip Vidaković, Bojan Šekoranja, Filip Šuligoj)....Pages 996-1006
 A New Bone Fixation Device for Human Joint Test Rig Machine  (Luca Luzi, Nicola Sancisi, Michele Conconi, Vincenzo Parenti Castelli)....Pages 1007-1013
Front Matter ....Pages 1015-1015
 Performance Analysis of the Automata in a Blossoming Flower Clock in the 18th Century  (Yu-Hsun Chen, Marco Ceccarelli, Hong-Sen Yan)....Pages 1017-1024
 Design Issues for an Inherently Safe Robotic Rehabilitation Device  (Giuseppe Carbone, Bogdan Gherman, Ionut Ulinici, Calin Vaida, Doina Pisla)....Pages 1025-1032
 Influence of the Tendon Design on the Behavior of an Under-Actuated Finger  (Vincenzo Niola, Cesare Rossi, Sergio Savino)....Pages 1033-1042
Back Matter ....Pages 1043-1047