ROMANSY 18 - Robot Design, Dynamics and Control: Proceedings of the Eighteenth CISM-IFToMM Symposium

Front Matter....Pages i-xii
Front Matter....Pages 1-1
Where Future Robots should Go and should not Go....Pages 3-18
Robust Drives for Parallel Robots....Pages 19-28
Minimal-Form Multibody Dynamics for Embedded Multidisciplinary Applications....Pages 29-38
Front Matter....Pages 39-39
Constructive Redesign of a Modular Metamorphic Microgripper....Pages 41-48
A One-Motor Full-Mobility 6- P US Manipulator....Pages 49-56
Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators....Pages 57-64
Decoupled Parallel Manipulator with Universal Joints and Additional Constraints....Pages 65-72
 Positio : A 4R Serial Manipulator Having a Surface of Isotropic Positioning....Pages 73-80
Joint space and workspace analysis of a two-DOF closed-chain manipulator....Pages 81-90
Identification of Base Parameters for Large-scale Kinematic Chains Based on Physical Consistency Approximation by Polyhedral Convex Cones....Pages 91-98
Modeling Effects on Free Vibration of a Two-Link Flexible Manipulator....Pages 99-107
Chatter Suppression in Sliding Mode Control: Strategies and Tuning Methods....Pages 109-116
On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm....Pages 117-124
Determination of Mobility in a Kinematic Chain by Properly Using the Jacobian Matrix....Pages 125-132
Micro Hinges and their Application to Micro Robot Mechanisms....Pages 133-140
Parallel R P R -‖- R P R Manipulator Generating 2-DOF Translation along One-Sheet Revolute Hyperboloid....Pages 141-148
A Study on the Effects of Cable Mass and Elasticity in Cable-Based Parallel Manipulators....Pages 149-156
Front Matter....Pages 157-157
Motion Planning of the Trident Snake Robot: An Endogenous Configuration Space Approach....Pages 159-166
A Novel Stair-Climbing Wheelchair with Variable Configuration Four-Bar Linkage —Mechanism Design and Kinematics—....Pages 167-174
Motion and Force measures on tortoises to design and control a biomimetic quadruped robot....Pages 175-182
Front Matter....Pages 157-157
Mechanism Design Improvements of the Airway Management Training System WKA-3....Pages 183-190
Design for a Dual-Arm Space Robot....Pages 191-198
Mechanical Design of a Novel Biped Climbing and Walking Robot....Pages 199-206
Front Matter....Pages 207-207
Development of the Anthropomorphic Waseda Saxophonist Robot....Pages 209-216
Design and Simulation of a Waist-Trunk System for a Humanoid Robot....Pages 217-224
Safe Navigation in Dynamic Environments....Pages 225-232
Development of a Visual Interface for Sound Parameter Calibration of the Waseda Flutist Robot WF-4RIV....Pages 233-240
Simulation of a Humanoid Robot walking gait on Moon Surface....Pages 241-248
Development of New Biped Foot Mechanism Mimicking Human’s Foot Arch Structure....Pages 249-256
Design and Development of Bio-mimetic Quadruped Robot....Pages 257-264
Static and Dynamic Maneuvers With a Tendon-Coupled Biped Robot....Pages 265-272
Front Matter....Pages 273-273
Kinematic Calibration of Small Robotic Work Spaces Using Fringe Projection....Pages 275-282
Forward Dynamics of 3-DOF Parallel Robots: a Comparison Among Different Models....Pages 283-290
Workspace Generation of Planar Wire-Actuated Parallel Manipulators with Antipodal Method....Pages 291-298
Trajectory Following and Vibration Control for Flexible-link Manipulators....Pages 299-306
Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning....Pages 307-314
Passivity Based Backstepping Control of an Elastic Robot....Pages 315-322
Economical Control of Robot Systems Using Potential Energy....Pages 323-330
Motion Control of an Under-Actuated Service Robot Using Natural Coordinates....Pages 331-338
Control Law Synthesis for Slip Reduction of Wheeled Robot....Pages 339-346
Front Matter....Pages 273-273
A Kinematic Model of the Tibio-Talar Joint Using a Minimum Energy Principle....Pages 347-356
Front Matter....Pages 357-357
Development of the Ultrasound Probe Holding Robot WTA-1RII and an Automated Scanning Algorithm based on Ultrasound Image Feedback....Pages 359-366
RFID-Assisted Detection and Handling of Packages....Pages 367-374
Virtual Haptic Map Using Haptic Display Technology for Visually Impaired....Pages 375-382
Extraction of Semantic Information from the 3D Laser Range Finder....Pages 383-390
The Application of ICP and SIFT Algorithms for Mobile Robot Localization....Pages 391-398
Estimation of Complex Anatomical Joint Motions Using a Spatial Goniometer....Pages 399-406
Front Matter....Pages 407-407
Modeling and Motion Planning for a Population of Mobile Robots....Pages 409-416
Reconfigurable Planar Three-Legged Parallel Manipulators....Pages 417-424
Multi-Objective Trajectory Planning in Wire-Actuated Parallel Manipulators....Pages 425-432
Design of the Facial Expression Mechanism for Humanoid Robots....Pages 433-440
A Method for Comparing Human Postures from Motion Capture Data....Pages 441-448
Evaluation of the KOBIAN and HABIAN Emotion Expression Humanoid Robots with European Elderly People....Pages 449-456
An Approach to the Dynamics and Kinematical Control of Motion Systems Consisting of a Chain of Bodies....Pages 457-464
Modular Design of Emotion Expression Humanoid Robot KOBIAN....Pages 465-472
A Random-Profile Approach for Trajectory Planning of Wheeled Mobile Robots With non-Slipping Constraint....Pages 473-480
The Second Type of Singularity Analysis of the New Parallel Manipulator with 6 Degree-of-Freedom....Pages 481-488
Back Matter....Pages 489-491