Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

Front Matter....Pages i-xv
Ro. Man. Sy.: Its Beginnings and Its Founders....Pages 1-8
Parametric Method for Motion Analysis of Manipulators with Uncertainty in Kinematic Parameters....Pages 9-17
Self-Adjusting Isostatic Exoskeleton for the Elbow Joint: Mechanical Design....Pages 19-26
Design of Ankle Rehabilitation Mechanism Using a Quantitative Measure of Load Reduction....Pages 27-36
Characterization of the Subsystems in the Special Three-Systems of Screws....Pages 37-45
Singularity Analysis of 3-DOF Translational Parallel Manipulator....Pages 47-54
Generalised Complex Numbers in Mechanics....Pages 55-62
On the Perturbation of Jacobian Matrix of Manipulators....Pages 63-71
Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model....Pages 73-81
Design and Optimization of a Tripod-Based Hybrid Manipulator....Pages 83-91
Moving Mechanism Design and Analysis of Suspension Insulator Inspection Robot....Pages 93-101
Design of 4-DOF Parallelogram-Based RCM Mechanisms with a Translational DOF Implemented Distal from the End-Effector....Pages 103-111
Rotational Axes Analysis of the 2-R P U/S P R 2R1T Parallel Mechanism....Pages 113-121
Recursive and Symbolic Calculation of the Stiffness and Mass Matrices of Parallel Robots....Pages 123-132
Kinematics, Dynamics, Control and Accuracy of Spherical Parallel Robot....Pages 133-140
Dynamics and Control of a Two-Module Mobile Robot on a Rough Surface....Pages 141-148
Shaking Force and Shaking Moment Balancing in Robotics: A Critical Review....Pages 149-157
Investigation into the Influence of the Foot Attachment Point in the Body on the Four-Link Robot Jump Characteristics....Pages 159-166
Numerical Detection of Inactive Joints....Pages 167-174
Quasi-Static Motions of a Three-Body Mechanism Along a Plane....Pages 175-179
Control Design for 3D Flexible Link Mechanisms Using Linearized Models....Pages 181-188
Walking on Slippery Surfaces: Generalized Task-Prioritization Framework Approach....Pages 189-196
Autonomous Robot Control in Partially Undetermined World via Fuzzy Logic....Pages 197-203
Laplacian Trajectory Vector Fields for Robotic Movement Imitation and Adaption....Pages 205-213
Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration....Pages 215-223
Design Choices in the Development of a Robotic Head: Human-Likeness, Form and Colours....Pages 225-233
Hopping Robot Using Pelvic Movement and Leg Elasticity....Pages 235-243
A Robotic Head that Displays Japanese “Manga” Marks....Pages 245-253
Terrain-Adaptive Biped Walking Control Using Three-Point Contact Foot Mechanism Detectable Ground Surface....Pages 255-263
Biped Walking on Irregular Terrain Using Motion Primitives....Pages 265-273
Experimental Investigation of Human Exoskeleton Model....Pages 275-281
Underactuated Finger Mechanism for LARM Hand....Pages 283-291
Design and Kinematic Analysis of a Novel Cable-Driven Parallel Robot for Ankle Rehabilitation....Pages 293-301
Position/Force Control of Medical Robot Interacting with Dynamic Biological Soft Tissue....Pages 303-310
Biomimicking a Brain-Map Based BCF Mode Carangiform Swimming Behaviour in a Robotic-Fish Underwater Vehicle....Pages 311-319
Variable Inertia Muscle Models for Musculoskeletal Dynamics....Pages 321-329
UGV Epi.q-Mod....Pages 331-339
Six-Link In-pipe Crawling Robot....Pages 341-348
Dynamics Model of STB Projectile Loom....Pages 349-356
Development of an Origami Type Robot to Realize Transformation and Movement....Pages 357-364
From Lawnmower Dynamics to Modeling, Simulation and Experiments of a Differentially Driven Robot....Pages 365-374
Kinematic Analysis Validation and Calibration of a Haptic Interface....Pages 375-381
Problems of Increasing Efficiency and Experience of Walking Machines Elaborating....Pages 383-390
Stiffness Analysis of WL-16RV Biped Walking Vehicle....Pages 391-399
Compliance Based Characterization of Spherical Flexure Hinges for Spatial Compliant Mechanisms....Pages 401-409
Analysis and Synthesis of Thin-Walled Robot Elements with the Guided Deformation Law....Pages 411-418
HCLC Integration Design and High-Precision Control of a Joint for Space Manipulator....Pages 419-426
A Novel Robotic Joint Actuation Concept: The Variable Mechanical Fuse, VMF....Pages 427-434
Internal Force-Based Impedance Control for Cable-Driven Parallel Robots....Pages 435-443
Time Sub-Optimal Path Planning for Hyper Redundant Manipulators Amidst Narrow Passages in 3D Workspaces....Pages 445-452
A Blocking Plate Manipulation Robot System Based on Image Recognition....Pages 453-462
Walking Mobile Robot with Manipulator-Tripod....Pages 463-471
Brain Flow in Application for New Robotic POLIMI Platform....Pages 473-482
A Dual Formation Constraint Mechanism of Mobile Sensor Network Based on Congestion Will....Pages 483-490
Kinematic Uncertainties in Human Motion Tracking and Interaction....Pages 491-499
Experiments of a Human-Robot Social Interactive System with Whole-Body Movements....Pages 501-508
Distributing the Supporting Heads for Robotized Machining....Pages 509-517
The Founder of Russian School of a Robotics (to the 100 Anniversary Since the Birth of Academician E. P. Popov)....Pages 519-525
Scaffold with Improved Construction Rigidity....Pages 527-535
Force Capability Polytope of a 3RRR Planar Parallel Manipulator....Pages 537-545
Interactive Design of a Controlled Driving Actuator....Pages 547-554
Design and Implementation of Self-Balancing Camera Platform for a Mobile Robot....Pages 555-562
Action of Robot with Adaptive Electric Drives of Modules....Pages 563-569
Back Matter....Pages 571-573