Schiehlen / Parenti-Castelli ROMANSY 18 - Robot Design, Dynamics and Control

Proceedings of the Eighteenth CISM-IFToMM Symposium
2010
ISBN: 978-3-7091-0277-0
Verlag: Springer Wien
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 524, 488 Seiten, eBook

Reihe: CISM International Centre for Mechanical Sciences

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, education, medical, space, welfare and rescue robots, humanoid robots, bio-robotics, multi-robot, embodied multi-agent systems, 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 humanoid robots from leading Japanese researchers are included.

Zielgruppe

Research

Autoren/Hrsg.

Parenti-Castelli, Vincenzo

Schiehlen, Werner

Inhaltsverzeichnis

Keynote Lecturers

Where future robots should go and should not go (M. Kaneko, M. Higashimori)
Robust drives for parallel robots (J. Angeles)
Minimal-form multi-body dynamics for embedded multidisciplinary applications (A. Kecskeméthy)

CHAPTER I: Novel Robot Design and Robot Modules/ Components

Constructive redesign of a modular metamorphic micro gripper (L. Bruzzone, G. Bozzini)
A one-motor full-mobility 6-PUS manipulator (P. Grosch, R. DiGregorio, F. Thomas)
Dynamic hybrid position/force control for parallel robot manipulators (W. Deng, H.J. Lee, J.-Won Lee)
Decoupled parallel manipulator with universal joints and additional constraints (L. Tyves, V. Glazunov, P. Danilin, N.M. Thanh)
Positio: a 4R serial manipulator having a surface of isotropic positioning (K. Akrout, L. Baron)
Joint space and work space analysis of a two-DOF closed chain manipulator (D. Chablat)
Identification of base parameters for large-scale kinematic chains based on physical consistency approximation by poly-hedral convex cones (K. Ayusawa, Y. Nakamura)
Modeling effects on free vibration of a two-link flexible manipulator (C. diCastri, A. Messina)
Chatter suppression in sliding mode control: strategies and tuning methods (M. O’Toole, K. Bouazza-Marouf, D. Kerr)
On solving the forward kinematics of the 6-6 General parallel manipulator with an efficient evolutionary algorithm (L. Rolland, R. Chandra)
Determination of mobility in a kinematic chain by properly using the Jacobian matrix (A. Tadeo, J.Pérez, J.M. Rico, J.J. Cervantes)
Micro hinges and their application to micro robot mechanisms (M. Horie)
Parallel RPR-?-RPR manipulator generating 2-DOF translational on gone sheet revolute hyperboloid (C.C. Lee, J.M. Hervé)
A study on the effects of cable mass and elasticity in cable-based parallel manipulators (E. Ottaviano, G. Castelli)

CHAPTER II: Service, Education, Medical, Space, Welfare and Rescue Robots

Motion planning of the trident snake robot: an endogenous configuration spaceapproach (J. Jakubiak, K. Tchonz, M. Janiak)
A novel stair climbing wheel chair with variable configuration four bar linkage: mechanism design and kinematics (Y. Sugahara, N. Yonezawa, K. Kosuge)
Motion and force measures on tortoises to design and control a biomimetic quadruped robot (H. El Daou, P.A. Libourel, S. Renous, V. Bels, J.C. Guinot)
Mechanism design improvements of the airway management training system WKA-3 (Y. Noh, K. Sato, A. Shimomura, M. Segawa, H. Ishii, J. Solis, A. Takanishi, K. Hatake)
Design for a dual-arm space robot (H. Li, Q. Huang, Q. Dong, C. Li, Y. He, Z. Jiang, Y. Li, P. Lv, L. Xie, X. Chen, K. Li)
Mechanical design of a novel biped climbing and walking robot (G. Figliolini, P. Rea, M. Conte)

CHAPTER III: Humanoid Robots, Bio-Robotics, Multi-Robot, Multi-Agent Systems

Development of the anthropomorphic Waseda saxophonist robot (J. Solis, K. Petersen, T. Yamamoto, M. Takeuchi, S. Ishikawa, A. Takanishi, K. Hashimoto)
Design and simulation of a waist-trunk system for a humanoid robot (C. Liang, M. Ceccarelli)
Safe navigation in dynamic environments (Z. Shiller, O. Gal, E. Rimon)
Development of a visual interface for sound parameter calibration of the Waseda flutist robot WF-4RIV (K. Petersen, J. Solis, A. Takanishi)
Simulation of a humanoid robot walking gait on moon surface (A.M.M. Omer, H. Lim, A. Takanishi)
Development of new biped foot mechanism mimicking human’s foot arch structure (K. Hashimoto, Y. Takezaki, K. Hattori, H. Kondo, T. Takashima, H. Lim, A. Takanishi)
Design and development of bio-mimetic quadruped robot (H. Ishii, Q. Shi, Y. Masuda, S. Miyagishima, S. Fujino, A. Takanishi, S. Okabayahi, N. Iida, H. Kimura)
Static and dynamic maneuvers with a tendon-coupled bipedrobot (P.J. Csonka, K.J. Waldron)

CHAPTER IV: Control, Modelling and Analysis of Robotic Systems

Kinematic calibration of small robotic work spaces using fringe projection (K. Haskamp, E. Reithmeier)
Forward dynamics of 3-DOF parallel robots: a