Ebook: Romansy 19 – Robot Design, Dynamics and Control: Proceedings of the 19th CISM-Iftomm Symposium

Parallel robots modeling and analysis.- Parallel robots design, calibration and control.- Robot design.- Robot control.- Mobile robots design, modeling and control.- Humans and humanoids.- Perception.

The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, rehabilitation, mobile robots, humanoid robots, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on parallel robotics from leading researchers in this domain are included.

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The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, rehabilitation, mobile robots, humanoid robots, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on parallel robotics from leading researchers in this domain are included.

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The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, rehabilitation, mobile robots, humanoid robots, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on parallel robotics from leading researchers in this domain are included.
Content:
Front Matter....Pages 0-1
Front Matter....Pages 1-1
Wire-driven Parallel Robot: Open Issues....Pages 3-10
A New 3-DOF Translational Parallel Manipulator: Kinematics, Dynamics, Workspace Analysis....Pages 11-18
On the Accuracy of N-1 Wire-driven Parallel Robots....Pages 19-26
Clearance, Manufacturing Errors Effects on the Accuracy of the 3-RCC Spherical Parallel Manipulators....Pages 27-34
Structural Synthesis of the Families of Parallel Manipulators with 3 Degrees of Freedom....Pages 35-42
Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence....Pages 43-50
On the Addition of Degrees of Freedom to Force-balanced Linkage....Pages 51-58
Front Matter....Pages 59-59
Design Challenges in the Development of Fast Pick-and-place Robots....Pages 61-68
A Low Energy Consumption Solar Tracker Based in Parallel Kinematics....Pages 69-76
Calibration of a Fully-Constrained Parallel Cable-Driven Robot....Pages 77-84
Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 1: Theory....Pages 85-92
Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 2: Case Study....Pages 93-100
On the Conditioning of the Observation Matrix for Dynamic Parameters Identification of Parallel Robots....Pages 101-108
Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation....Pages 109-116
A New Algorithm for Gravity Compensation of a 3-UPU Parallel Manipulator....Pages 117-124
Front Matter....Pages 125-125
Portable Posture Guiding System With Visual, Verbal Feedback for Upper Extremity....Pages 127-134
An Innovative Actuation Concept for a New Hybrid Robotic System....Pages 135-142
Development of 3-Axis Flexure Stage for Bio-Cellular Experimental Apparatus....Pages 143-150
Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color....Pages 151-158
Design of a New Hand Exoskeleton for Rehabilitation of Post- Stroke Patients....Pages 159-166
Front Matter....Pages 125-125
Guidelines for the Design of Multi-finger Haptic Interfaces for the Hand....Pages 167-174
Development of Anthropomorphic Soft Robotic Hand WSH-1RII....Pages 175-182
Development of Distributed Control System, Modularized Motor Controller for Expressive Robotic Head....Pages 183-190
Front Matter....Pages 191-191
Null-Space Impedance Control For Physical Human-Robot Interaction....Pages 193-200
Wrench Recovery for Wire-Actuated Parallel Manipulators....Pages 201-208
Wrench Recovery of Parallel Manipulators for Full Retrieval of Subtasks....Pages 209-216
Vibration Control of an Industrial Robot with a Flexible Arm Using IDCS....Pages 217-224
Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator....Pages 225-232
Redundancy Resolution of the Underactuated Manipulator....Pages 233-240
Dexterous Manipulation Planning for an Anthropomorphic Hand....Pages 241-248
Front Matter....Pages 249-249
Angular Momentum Based Controller for Balancing an Inverted Double Pendulum....Pages 251-258
Analysis and Design of Planar Self-Balancing Double- Pendulum Robots....Pages 259-266
Peristaltic Crawling Robot for Use on the Ground and in Plumbing Pipes....Pages 267-274
Off-road Mobile Robot Control: an Adaptive Approach for Accuracy, Integrity....Pages 275-282
On-Line Obstacle Avoidance at High Speeds....Pages 283-290
Torque Control of a Poly-articulated Mobile Robot During Obstacle Clearance....Pages 291-298
An Approach to the Dynamics of a Vibration-Driven Robot....Pages 299-306
Front Matter....Pages 307-307
A new Approach to Muscle Fatigue Evaluation for Push/Pull Task....Pages 309-316
Calibration of the Human-Body Inertial Parameters Using Inverse Dynamics, LS Technique, Anatomical Values....Pages 317-324
Assessment of Physical Exposure to Musculoskeletal Risks in Collaborative Robotics Using Dynamic Simulation....Pages 325-332
Front Matter....Pages 307-307
Muscle Activity Estimation Based on Inverse Dynamics, Muscle Stress Analysis by Finite Element Method....Pages 333-340
Healthy Subject Testing with the Robotic Gait Rehabilitation (RGR) Trainer....Pages 341-348
Front Matter....Pages 349-349
The ROBOSKIN Project: Challenges and Results....Pages 351-358
Modeling Verticality Estimation During Locomotion....Pages 359-366
The Whole-Arm Exploration of Harsh Environments....Pages 367-374
BIM Based Indoor Navigation System of Hermes Mobile Robot....Pages 375-382
Overload Protection Mechanism for 6-axis Force/Torque Sensor....Pages 383-390

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The papers in this volume provide a vision of the evolution of the robotics disciplines and indicate new directions in which these disciplines are foreseen to develop. Paper topics include, but are not limited to, novel robot design and robot modules/components, service, rehabilitation, mobile robots, humanoid robots, challenges in control, modeling, kinematical and dynamical analysis of robotic systems, innovations in sensor systems for robots and perception, and recent advances in robotics. In particular, many contributions on parallel robotics from leading researchers in this domain are included.
Content:
Front Matter....Pages 0-1
Front Matter....Pages 1-1
Wire-driven Parallel Robot: Open Issues....Pages 3-10
A New 3-DOF Translational Parallel Manipulator: Kinematics, Dynamics, Workspace Analysis....Pages 11-18
On the Accuracy of N-1 Wire-driven Parallel Robots....Pages 19-26
Clearance, Manufacturing Errors Effects on the Accuracy of the 3-RCC Spherical Parallel Manipulators....Pages 27-34
Structural Synthesis of the Families of Parallel Manipulators with 3 Degrees of Freedom....Pages 35-42
Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence....Pages 43-50
On the Addition of Degrees of Freedom to Force-balanced Linkage....Pages 51-58
Front Matter....Pages 59-59
Design Challenges in the Development of Fast Pick-and-place Robots....Pages 61-68
A Low Energy Consumption Solar Tracker Based in Parallel Kinematics....Pages 69-76
Calibration of a Fully-Constrained Parallel Cable-Driven Robot....Pages 77-84
Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 1: Theory....Pages 85-92
Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 2: Case Study....Pages 93-100
On the Conditioning of the Observation Matrix for Dynamic Parameters Identification of Parallel Robots....Pages 101-108
Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation....Pages 109-116
A New Algorithm for Gravity Compensation of a 3-UPU Parallel Manipulator....Pages 117-124
Front Matter....Pages 125-125
Portable Posture Guiding System With Visual, Verbal Feedback for Upper Extremity....Pages 127-134
An Innovative Actuation Concept for a New Hybrid Robotic System....Pages 135-142
Development of 3-Axis Flexure Stage for Bio-Cellular Experimental Apparatus....Pages 143-150
Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color....Pages 151-158
Design of a New Hand Exoskeleton for Rehabilitation of Post- Stroke Patients....Pages 159-166
Front Matter....Pages 125-125
Guidelines for the Design of Multi-finger Haptic Interfaces for the Hand....Pages 167-174
Development of Anthropomorphic Soft Robotic Hand WSH-1RII....Pages 175-182
Development of Distributed Control System, Modularized Motor Controller for Expressive Robotic Head....Pages 183-190
Front Matter....Pages 191-191
Null-Space Impedance Control For Physical Human-Robot Interaction....Pages 193-200
Wrench Recovery for Wire-Actuated Parallel Manipulators....Pages 201-208
Wrench Recovery of Parallel Manipulators for Full Retrieval of Subtasks....Pages 209-216
Vibration Control of an Industrial Robot with a Flexible Arm Using IDCS....Pages 217-224
Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator....Pages 225-232
Redundancy Resolution of the Underactuated Manipulator....Pages 233-240
Dexterous Manipulation Planning for an Anthropomorphic Hand....Pages 241-248
Front Matter....Pages 249-249
Angular Momentum Based Controller for Balancing an Inverted Double Pendulum....Pages 251-258
Analysis and Design of Planar Self-Balancing Double- Pendulum Robots....Pages 259-266
Peristaltic Crawling Robot for Use on the Ground and in Plumbing Pipes....Pages 267-274
Off-road Mobile Robot Control: an Adaptive Approach for Accuracy, Integrity....Pages 275-282
On-Line Obstacle Avoidance at High Speeds....Pages 283-290
Torque Control of a Poly-articulated Mobile Robot During Obstacle Clearance....Pages 291-298
An Approach to the Dynamics of a Vibration-Driven Robot....Pages 299-306
Front Matter....Pages 307-307
A new Approach to Muscle Fatigue Evaluation for Push/Pull Task....Pages 309-316
Calibration of the Human-Body Inertial Parameters Using Inverse Dynamics, LS Technique, Anatomical Values....Pages 317-324
Assessment of Physical Exposure to Musculoskeletal Risks in Collaborative Robotics Using Dynamic Simulation....Pages 325-332
Front Matter....Pages 307-307
Muscle Activity Estimation Based on Inverse Dynamics, Muscle Stress Analysis by Finite Element Method....Pages 333-340
Healthy Subject Testing with the Robotic Gait Rehabilitation (RGR) Trainer....Pages 341-348
Front Matter....Pages 349-349
The ROBOSKIN Project: Challenges and Results....Pages 351-358
Modeling Verticality Estimation During Locomotion....Pages 359-366
The Whole-Arm Exploration of Harsh Environments....Pages 367-374
BIM Based Indoor Navigation System of Hermes Mobile Robot....Pages 375-382
Overload Protection Mechanism for 6-axis Force/Torque Sensor....Pages 383-390
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