Robotics and Mechatronics: Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics

Front Matter....Pages i-x
Front Matter....Pages 1-1
A Study of Structural Stress Analysis of Reducers for Supporting Reliability Design....Pages 3-13
Structural and Dimensional Synthesis of Parallel Manipulator with Two End—Effectors....Pages 15-23
Parametric Design Optimization of Two Link Robotic Manipulator....Pages 25-32
Investigation of the Behaviour of a New Miniature Carbon-Paraffin Phase-Change Actuator....Pages 33-40
Enumeration of Driving Mechanisms in Robotics by Combinatorial Analysis Method....Pages 41-49
Front Matter....Pages 51-51
Design and Experiments on a New Humanoid Robot: TIDOM....Pages 53-63
Experimental Inspiration and Rapid Prototyping of a Novel Humanoid Torso....Pages 65-74
Design of Robots Used as Education Companion and Tutor....Pages 75-84
Walking of a Biped Robot Balanced with a Reciprocating Torso....Pages 85-99
Front Matter....Pages 101-101
Determining the Reachable Workspace for 6-DOF Delta Manipulators....Pages 103-110
A Reconfiguration Strategy of a Parallel Delta-Type Robot to Improve the Kinematic Performance....Pages 111-119
Workspace and Singularity Analysis of a Delta like Family Robot....Pages 121-130
Optimal Trajectory Planning of 3RRR Parallel Robot Using Ant Colony Algorithm....Pages 131-139
Front Matter....Pages 141-141
Force Control Implementation of a Haptic Device for a Medical Use....Pages 143-151
Integration of Automated Camera Steering for Robotic Single-Site Surgery....Pages 153-160
Kinematic Models of a New Spherical Parallel Manipulator Used as a Master Device....Pages 161-169
Initial Experiments with the Leap Motion as a User Interface in Robotic Endonasal Surgery....Pages 171-179
Front Matter....Pages 181-181
Mechatronic Device to Assist Therapies During Hand Fingers Rehabilitation....Pages 183-190
Mechanical Design of a Craniotomy Robotic Manipulator Based on Optimal Kinematic and Force Performance....Pages 191-198
Dynamic Simulation of a Cable-Based Gait Training Machine....Pages 199-207
Front Matter....Pages 181-181
An in Vivo Experiment to Assess the Validity of the Log Linearized Hunt-Crossley Model for Contacts of Robots with the Human Abdomen....Pages 209-218
Front Matter....Pages 219-219
Real-Time Reconstruction of Heightmaps from Images Taken with an UAV....Pages 221-231
A Human-Machine Interface with Unmanned Aerial Vehicles....Pages 233-242
Design and Simulation of Robot Manipulator Position Control System Based on Adaptive Fuzzy PID Controller....Pages 243-250
Generating the Optimum Dynamic Trajectory of a Hybrid Cable-Serial Robot....Pages 251-260
An Integrated Software Package for Advanced Industrial Robot Applications....Pages 261-269
Front Matter....Pages 271-271
A Method for the Approximation of the Multiple IK Solutions of Regular Manipulators Based on the Uniqueness Domains and Using MLP....Pages 273-281
An Approach to Symbolical Formulation of Forward Kinematics of Serial Robots....Pages 283-291
Grasp Database Generator for Anthropomorphic Robotic Hands....Pages 293-300
From Human Motion Capture to Industrial Robot Imitation....Pages 301-312
Dynamic Decoupling of Adjustable Serial Manipulators Taking into Account the Changing Payload....Pages 313-320
Back Matter....Pages 321-322