ROMANSY 21 - Robot Design, Dynamics and Control: Proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy

Front Matter....Pages i-xii
Front Matter....Pages 1-1
Innovations in Infrastructure Service Robots....Pages 3-16
The New Robotics Age: Meeting the Physical Interactivity Challenge....Pages 17-18
Front Matter....Pages 19-19
Robust Inverse Kinematics at Position Level by Means of the Virtual Redundant Axis Method....Pages 21-29
Redundancy Resolution of a 9 DOF Serial Manipulator Under Hard Task Constraints....Pages 31-38
Geometry and Direct Kinematics of Six-DOF Three-Limbed Parallel Manipulator....Pages 39-46
Learning Global Inverse Kinematics Solutions for a Continuum Robot....Pages 47-54
A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps....Pages 55-64
Position Kinematics of a 3-RRS Parallel Manipulator....Pages 65-72
Kinematic Analysis of a Single-Loop Translational Manipulator....Pages 73-79
A Measure of the Distance Between Two Rigid-Body Poses Based on the Use of Platonic Solids....Pages 81-89
Front Matter....Pages 91-91
Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains....Pages 93-101
Mechanics of Mobile Robots with Mecanum Wheels....Pages 103-111
Design of Partially Balanced 5R Planar Manipulators with Reduced Center of Mass Acceleration (RCMA)....Pages 113-122
An Alternative Approach to the Dynamics Analysis of Closed-Loop Mechanisms....Pages 123-131
Lagrangian Based Dynamic Analyses of Delta Robots with Serial-Parallel Architecture....Pages 133-141
Front Matter....Pages 143-143
Adaptive Model Predictive Control Design for Underactuated Multibody Systems with Uncertain Parameters....Pages 145-152
Control and Experiments with Energy-Saving SCARA Robots....Pages 153-161
Control Design for Pneumatic Manipulation Robot....Pages 163-170
Adaptive Edge Features Estimation for Humanoid Robot Visual Perception....Pages 171-177
Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation....Pages 179-188
Front Matter....Pages 189-189
Human-Powered Robotics—Concept and One-DOF Prototype....Pages 191-198
Gripping Tests on an Underactuated Self-adapting Hand Prototype....Pages 199-206
Combined Structural and Dimensional Synthesis of Serial Robot Manipulators....Pages 207-216
Development of the Acroboter Service Robot Platform....Pages 217-224
The Inversion of Motion of Bristle Bots: Analytical and Experimental Analysis....Pages 225-232
Design of a Compliant Environmentally Interactive Snake-Like Manipulator....Pages 233-240
Front Matter....Pages 241-241
Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human....Pages 243-250
Design of a Dexterous Hand for a Multi-hand Task....Pages 251-258
Facial Expression Design for the Saxophone Player Robot WAS-4....Pages 259-266
Disturbance Force Generator for Biped Robots....Pages 267-274
LARMbot: A New Humanoid Robot with Parallel Mechanisms....Pages 275-283
Human-Inspired Humanoid Balancing and Posture Control in Frontal Plane....Pages 285-292
Compliant Actuator Dedicated for Humanoidal Robot—Design Concept....Pages 293-300
Front Matter....Pages 301-301
Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation....Pages 303-310
End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder....Pages 311-319
Design of a Tendon-Drive Manipulator for Positioning a Probe of a Cooperative Robot System for Fault Diagnosis of Solar Panels at Mega Solar Power Plant....Pages 321-328
Physical Human-Robot Interaction: Increasing Safety by Robot Arm’s Posture Optimization....Pages 329-337
Front Matter....Pages 339-339
Assessing the Orbital Stability for Walking with Four Prosthetic Feet at Different Speeds....Pages 341-349
Development of Rotary Type Movers Discretely Interacting with Supporting Surface and Problems of Control Their Movement....Pages 351-359
Parameter Optimization for Exoskeleton Control System Using Sobol Sequences....Pages 361-368
Front Matter....Pages 339-339
Study of RE-Gait® as the Device That Promotes Walking Using a Two-Dimensional Emotion Map....Pages 369-376
Developement of Road Condition Categorizing System for Manual Wheelchair Using Mahalanobis Distance....Pages 377-384
Control of a Self-adjusting Lower Limb Exoskeleton for Knee Assistance....Pages 385-392
Front Matter....Pages 393-393
Pilot Experiments with the Human-Friendly Walking Assisting Robot Vehicle (hWALK)....Pages 395-402
Conceptual Design of a Cable Driven Parallel Mechanism for Planar Earthquake Simulation....Pages 403-411
Comparison of Dynamic Properties of Two KUKA Lightweight Robots....Pages 413-420
Comparison of Serial and Quasi-Serial Industrial Robots for Isotropic Tasks....Pages 421-429
On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots....Pages 431-438
Automatic Robot Taping: Strategy and Enhancement....Pages 439-448