Romansy 14: Theory and Practice of Robots and Manipulators Proceedings of the Fourteenth CISM-IFToMM Symposium

Front Matter....Pages II-XXI
Front Matter....Pages 1-1
Virtual Prototyping of the Combined Wheeled and Legged Robot ALDURO....Pages 3-3
From Industrial to Service Robots, an Important Paradigm Shift....Pages 5-6
Humanoid Robotics: New Trend in Robot Research and Industry in Japan....Pages 7-8
Front Matter....Pages 9-9
Contributions to the Modelling of Human Joints....Pages 11-20
Mathematical Characterization of the Workspace of a 6-DOF Parallel Robot for Reverse Engineering....Pages 21-30
Geometric Errors Versus Calibration in Manipulators with Less than 6 DOF....Pages 31-38
Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism....Pages 39-48
Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom....Pages 49-58
Neighboring Special Configurations of Parallel Manipulators....Pages 59-66
Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter-Linear Form....Pages 67-76
Pose, Posture, Formation and Contortion in Kinematic Systems....Pages 77-86
Mises Derivatives of Motors and Motor Tensors....Pages 87-98
Front Matter....Pages 99-99
Control of the Omnidirectional Mobile Robot MARGe....Pages 101-108
Admittance Model Haptic Interaction for Large Workspace Teleoperation....Pages 109-118
A Self-tuning Fuzzy Robotic Force Controller....Pages 119-126
Configuration Control of a Flexible Micro Robotic Arm for Catheter-type Microrobot....Pages 127-139
Design of a PID Controller for a Flexible Five-Bar Closed-Chain Planar Manipulator....Pages 141-150
Manipulation of Micro-objects using Adhesion Forces and Dynamical Effects in Unconstrained Environment....Pages 151-161
Trajectory Tracking for Robot Manipulator Using Generalized Velocity Components....Pages 163-171
Advanced Control of Robot Compliance Tasks Using Hybrid Intelligent Paradigms....Pages 173-180
Front Matter....Pages 99-99
Digital Force Control in Rehabilitation Robotics....Pages 181-188
Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation....Pages 189-199
Computer Control of a Robot for Realization of a Smooth Motion....Pages 201-212
Dynamic Emulation of Space Robot in One-g Environment using Hardware-in-the-Loop Simulation....Pages 213-229
Path Planning Algorithm Among Obstacles by Considering a Manipulability Index....Pages 231-240
Adaptive Excitation of a Spring Motion of an Object Across Plane Obstacles....Pages 241-248
How to Apply Hybrid Position/Force Control to Robots Interacting with Dynamic Environment....Pages 249-258
Front Matter....Pages 259-259
A Catadioptric System for 3-D Optical Measurements....Pages 261-270
Integration Policy for Critical Multi-layered Distributed Robotics Applications....Pages 271-278
A New Single Frame Pose Estimation Device for Robotics: Theory and Simulation Results....Pages 279-288
The Highest End 3D Transmission System for the Remote Control....Pages 289-297
Motion Generators in MRROC++ Based Robot Controllers....Pages 299-306
Front Matter....Pages 307-307
Development of an Anthropomorphic Talking Robot to Mechanically Produce Human Voices....Pages 309-316
Evolutionary Optimization of Mechanical and Control Design Application to Active Endoscopes....Pages 317-330
Experimental Validation and Tests of Operation Characteristics of a Parallel-Serial Manipulator....Pages 331-338
Design and Experimentation of Shape Memory Alloy Wire Bundle Actuators....Pages 339-350
3-DOF Planar Positioning-Orientation Mechanisms with Links and Large-Deflective Hinges....Pages 351-358
A Family of Novel Orientational 3-DOF Parallel Robots....Pages 359-368
Integrated Design and Analysis of a Novel Schönflies-Motion Generator....Pages 369-378
Telerobotic Device for Roadway Debris Vacuuming....Pages 379-386
Front Matter....Pages 307-307
ROBIAN Hip Joint: Analysis, Design and Simulation....Pages 387-396
Design of Linear Delta Robot: Compromise Between Manipulability and Workspace Size....Pages 397-406
On the Dimensional Synthesis of Spatial Four-and Five-Bar Linkage....Pages 407-419
Front Matter....Pages 421-421
On the Turn of Walking Machines with Moving Propellers Made on the Basis of Cycled Mechanisms....Pages 423-430
Gait Generation and Mechatronic Design of Planar Walker....Pages 431-443
Design and Realization of Jogging Johnnie....Pages 445-452
Four DOF TORSO Dynamic Effects on Biped Walking Gait....Pages 453-462
Inverse Dynamics Power Saving Control of Walking Machines....Pages 463-470
Stabilization Walking Control for Human-like Biped Robots....Pages 471-480
The Significance of Leg Mass in Modeling Quadrupedal Running Gaits....Pages 481-488
Using the Head to Stabilize a Quadrupedal Walker....Pages 489-498
Analysis of Quadruped LAVA Features: Speed, Energy Efficiency and Selected Motion Abilities....Pages 499-506
Mathematical Model of Worm-like Motion Systems with Finite and Infinite Degree of Freedom....Pages 507-515
Front Matter....Pages 517-517
Human-like Head Robot WE-3RV for Emotional Human-Robot Interaction....Pages 519-526
Force and Position Control of a SMA Actuated Endoscope....Pages 527-536
Human Symbiotic Humanoid Robot with Whole-body Compliance....Pages 537-547
Patient Simulator for Mouth Opening and Closing Training....Pages 549-555
Back Matter....Pages 557-567