Romansy 16: Robot Design, Dynamics, and Control

Front Matter....Pages 1-1
Humanoid Robotics, Culture and Society of Japan....Pages 3-4
The Human Frontier: Robotics New Quest and Challenge....Pages 5-6
Standardization: A Logical Step in Sustained Space Exploration....Pages 7-12
Front Matter....Pages 13-13
Design and Singularity Criteria of Parallel Manipulators....Pages 15-22
L-legs for the Design of Mini and Micro Parallel Compliant Mechanisms....Pages 23-30
A singularity free parallel robotic mechanism for aiming antennas and cameras....Pages 31-38
Virtual Prototyping of a New Parallel Robot for Milling....Pages 39-46
A New Approach for the evaluation of kinematic and static performances of a family of 3-UPU translational manipulators....Pages 47-54
Geometric Configuration in Robot Kinematic Design....Pages 55-62
Front Matter....Pages 63-63
Improvement of Positioning Accuracy of PAMINSA (Parallel Manipulator of the I.N.S.A.)....Pages 65-72
The Impact of Friction on the Dynamics of Parallel Robotic Manipulators....Pages 73-80
Dynamics Aspects of Parallel Anthropomorphic Robots....Pages 81-88
Workspace Comparison of Kinematically Redundant Planar Parallel Manipulators....Pages 89-96
Dexterity Analysis of Planar Parallel Manipulators....Pages 97-104
Stiffness experimental monitoring for WL-16RII Biped Locomotor during walking....Pages 105-112
Estimation of Leg Stiffness Parameters of a 6DOF Parallel Mechanism....Pages 113-120
Invariant Error Dynamics Controller for a 6-dof Electrohydraulic Stewart Platform....Pages 121-128
Front Matter....Pages 129-129
Hyperbolic-linear, Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators....Pages 131-138
Local Variation Method to Determine Cheap Path for Nonholonomic Systems....Pages 139-146
Nonlinearity detection and reduction based on unnormalized quasi-velocities....Pages 147-154
Front Matter....Pages 129-129
Motion Planning for Collision Avoidance via Cylindrical Models of Rigid Bodies....Pages 155-162
On the Dynamic Stability of Off-Road Vehicles....Pages 163-170
Sub-Optimal Motion Planner of Mobile Manipulators in Generalized Point-to-Point Task With Stability Constraint....Pages 171-178
A Decoupled Approach to Optimal Time Energy Trajectory Planning of Parallel Kinematic Machines....Pages 179-186
Reliable and Adjustable Biped Gait Generation for Slopes Using a GA Optimized Fourier Series Formulation....Pages 187-194
A Simplified Method for Generating 3D Gait Using Optimal Sagittal Gait....Pages 195-202
Front Matter....Pages 203-203
The Largest Feedback-Linearizable Subsystem of a Class of Wheeled Robots Moving on an Inclined Plane....Pages 205-212
Leg Thrust Control for Stabilization of Dynamic Gaits in a Quadruped Robot....Pages 213-220
Vehicle Dynamics of Redundant Mobile Robots with Powered Caster Wheels....Pages 221-228
Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers....Pages 229-236
Control Architecture for Sensor-Based Two-Handed Manipulation....Pages 237-244
Front Matter....Pages 245-245
The mechanical improvements of the anthropomorphic flutist robot WF-4RII to increas the sound clarity and to enhance the interactivity with humans....Pages 247-254
Mechanical Design of Emotion Expression Humanoid Robot WE-4RII....Pages 255-262
The Mechatronic Design of a Human-like Robot Head....Pages 263-270
Human Equilibrium Control Principles Implemented into a Biped Humanoid Robot....Pages 271-278
Development of a New Humanoid Robot to Realize Various Walking Pattern Using Waist Motions....Pages 279-286
From the Human Hand to a Humanoid Hand: Biologically-Inspired Approach for the Development of RoboCasa Hand #1....Pages 287-294
Front Matter....Pages 295-295
Towards Realistic Surgical Simulation: Biomechanics of Needle Insertion into the Brain....Pages 297-304
Robotic System for Femoral & Tibial Osteotomies Assistance....Pages 305-312
WL-16RII: Prototype of Biped Walking Wheelchair....Pages 313-320
Front Matter....Pages 295-295
Prosthesis Design by Robotic Approaches Part 1: Metabolical Cost....Pages 321-328
Prosthesis Design by Robotic Approaches Part 2: Optimization Approach....Pages 329-336
Front Matter....Pages 337-337
Sound Source Detection System for Control of an Autonomous Mobile Robot, a Behaviour-Based Approach....Pages 339-346
Development and Control of Wheeled Vehicle that Balances on a Rolling Basketball....Pages 347-354
Durability of Large-Deflective Hinges made of Blend Polypropylene used for Molded Pantograph Mechanisms....Pages 355-362
Mobile Robots Based on Magnetizable Elastic Elements and Ferrofluids....Pages 363-370
A Flexure-Based Electromagnetic Linear Actuator for Nano-Positioning....Pages 371-378
An Infrared Location System for Relative Pose Estimation of Robots....Pages 379-386
Design and Control of the Ball Wheel Drive Mechanism for a Robust Omnidirectional Wheeled Mobile Platform....Pages 387-394
Front Matter....Pages 395-395
Results and Verification of Spacecraft Docking Emulation using Hardware-in-the-Loop Simulation....Pages 397-404
On Dynamic Analysis and Control of a Novel Orbital Debris Disposer....Pages 405-412
Trajectory Generation for Satellite Capture Using a Redundant Manipulator....Pages 413-420
Innovative methods of evaluation in space robotics and surgical robotics design....Pages 421-428
Front Matter....Pages 429-429
Visual Target Detection in Unstructured Environments — A Novel Technique for Robotic Navigation....Pages 431-438
Hand image interpretation based on double active contour tracking....Pages 439-446
Mobile robot localization using laser range scanner and omnicamera....Pages 447-454
Navigation of an Autonomous Ground Vehicle - Gate Recognition and Crossing....Pages 455-462