Advances in Service and Industrial Robotics: Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019) (Advances in Intelligent Systems and Computing, 980)

This book presents the proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019, held at the Fraunhofer Zentrum and the Technische Universität in Kaiserslautern, Germany, on 19–21 June 2019. The conference brought together academic researchers in robotics from 20 countries, mainly affiliated to the Alpe-Adria-Danube Region and covered all major areas of robotic research, development and innovation as well as new applications and current trends. Offering a comprehensive overview of the ongoing research in the field of robotics, the book is a source of information and inspiration for researchers wanting to improve their work and gather new ideas for future developments. It also provides researchers with an innovative and up-to-date perspective on the state of the art in this area. Front Matter ....Pages i-xv Front Matter ....Pages 1-1 An Integrated Taxonomy and Critical Review of Module Designs for Serial Reconfigurable Manipulators (N. A. Stravopodis, C. Valsamos, V. C. Moulianitis)....Pages 3-11 Geometry and Inverse Kinematics of 3-PRRS Type Parallel Manipulator (Zhumadil Baigunchekov, M. A. Laribi, Azamat Mustafa, Rustem Kaiyrov, Bekzat Amanov, Abzal Kassinov)....Pages 12-18 Linear Motion Mechanisms for Fine Position Adjustment of Heavy Weight Platforms (Štefan Havlík, Jaroslav Hricko, Erik Prada, Jaromír Jezný)....Pages 19-25 Compliant Mechanisms for Motion/Force Amplifiers for Robotics (Jaroslav Hricko, Štefan Havlík)....Pages 26-33 Design and Control of a Flapping Wing System Test Bench (José Zárate, Hartmut Witte)....Pages 34-42 Approximation of Inverse Kinematic Solution of a Metamorphic 3R Manipulator with Multilayer Perceptron (Markos Tzivaridis, Vassilis C. Moulianitis, Nikos A. Aspragathos)....Pages 43-50 Mechanical Design, Modeling and Simulation of Human-Size Cable-Driven Over-Actuated Robotic Arm (Aleksandar Rodić, Shunsuke Hioki, Marija Radmilović, Miloš Jovanović)....Pages 51-58 Front Matter ....Pages 59-59 Torque-Based Velocity Control for Safe Human-Humanoid Interaction (Dmitriy Shingarey, Lukas Kaul, Tamim Asfour)....Pages 61-68 On an Analytic Generation of Null Space Spanners in Robotics (Ignacy Duleba, Iwona Karcz-Duleba)....Pages 69-76 Velocity Motion Path Control of Redundant Robot Arms (Evgeniy Krastev)....Pages 77-85 Reduction of Trajectory Encoding Data Using a Deep Autoencoder Network: Robotic Throwing (Zvezdan Lončarević, Rok Pahič, Mihael Simonič, Aleš Ude, Andrej Gams)....Pages 86-94 Shared Impedance Control Based on Reinforcement Learning in a Human-Robot Collaboration Task (Min Wu, Yanhao He, Steven Liu)....Pages 95-103 Gain Scheduled PID Force Control of a Robotic Arm for Sewing Fabrics (Ioannis H. Misios, Panagiotis N. Koustoumpardis, Nikos A. Aspragathos)....Pages 104-114 Front Matter ....Pages 115-115 Implementation of an Autonomous Tool Trolley in a Production Line (Heiko Engemann, Sriram Badri, Marius Wenning, Stephan Kallweit)....Pages 117-125 Developing a Production Scheduling System for Modular Factory Using Constraint Programming (Hoonseok Park, Jumyung Um, Jae-Yoon Jung, Martin Ruskowski)....Pages 126-133 Robotic System Reliability Analysis and RUL Estimation Using an Iterative Approach (Francesco Aggogeri, Riccardo Adamini, Panagiotis Aivaliotis, Alberto Borboni, Amit Eytan, Angelo Merlo et al.)....Pages 134-143 Edge Computing in Smart Production (Jumyung Um, Volkan Gezer, Achim Wagner, Martin Ruskowski)....Pages 144-152 Neural Adaptive Control of a Robot Joint Using Secondary Encoders (Jonas Weigand, Magnus Volkmann, Martin Ruskowski)....Pages 153-161 Task-Dependent Energetic Analysis of a 3 d.o.f. Industrial Manipulator (Paolo Boscariol, Lorenzo Scalera, Alessandro Gasparetto)....Pages 162-169 3D Printing with 6D of Freedom: Controlling Material Extrusion Speed (David Kraljić, Matej Štefanič, Roman Kamnik)....Pages 170-178 Robotic Knitting in String Art as a Tool for Creative Design Processes (Marko Jovanović, Marko Vučić, Bojan Tepavčević, Mirko Raković, Jovica Tasevski)....Pages 179-187 Towards Using Natural User Interfaces for Robotic Arm Manipulation (Florin Gîrbacia, Cristian Postelnicu, Gheorghe-Daniel Voinea)....Pages 188-193 Grounding of Uncertain Force Parameters in Spoken Robot Commands (Kim Wölfel, Dominik Henrich)....Pages 194-201 Integrated Palletizing Workstation with an Industrial Robot and a Cobot (Juraj Kováč, Robert Jenčík, Peter Andrejko, Mikuláš Hajduk, Zbigniew Pilat, Peter Tomči et al.)....Pages 202-209 A General Approach for Automating Teleoperated Construction Machines (Hyung Joo Lee, Sigrid Brell-Cokcan, Katharina Schmitz)....Pages 210-219 Front Matter ....Pages 221-221 Automatic Path Planning for Unmanned Ground Vehicle Using UAV Imagery (Jurgen Zoto, Maria Angela Musci, Aleem Khaliq, Marcello Chiaberge, Irene Aicardi)....Pages 223-230 Indoor Navigation Using Existing Infrastructure for Professional Service Robots (Denis Chikurtev, Kaloyan Yovchev, Nayden Chivarov, Ivaylo Rangelov)....Pages 231-239 Online Trajectory Planning and Collision Avoidance for a Group of Robots Using Distributed Model Predictive Control (Giuliano Costantini, Ramin Rostami, Daniel Görges)....Pages 240-249 Whole-Body Planning for Obstacle Traversal with Autonomous Mobile Ground Robots (Martin Oehler, Stefan Kohlbrecher, Oskar von Stryk)....Pages 250-258 Connections for Path Planning in Mobile Robotics (Mircea Nitulescu, Mircea Ivanescu)....Pages 259-266 Safe and Efficient Navigation of an Autonomous Shuttle in a Pedestrian Zone (Qazi Hamza Jan, Sascha Klein, Karsten Berns)....Pages 267-274 Task Dependent Trajectory Learning from Multiple Demonstrations Using Movement Primitives (Josip Vidaković, Bojan Jerbić, Bojan Šekoranja, Marko Švaco, Filip Šuligoj)....Pages 275-282 Front Matter ....Pages 283-283 Bounded Self-motion of Functional Redundant Robots (Leon Žlajpah, Tadej Petrič)....Pages 285-292 On-line Adaption of Virtual Guides Through Physical Interaction (Tadej Petrič, Leon Žlajpah)....Pages 293-300 A Comparison of Policy Search in Joint Space and Cartesian Space for Refinement of Skills (Alexander Fabisch)....Pages 301-309 KUKA LWR Robot Cartesian Stiffness Control Based on Kinematic Redundancy (Branko Lukić, Tadej Petrič, Leon Žlajpah, Kosta Jovanović)....Pages 310-318 Influence of Unmodelled External Forces on the Quality of Collision Detection (Zaviša Gordić, Kosta Jovanović)....Pages 319-328 Use of Bimanual Haptic Teleoperation System for Optimized Task Performance with Adaptive Haptic Tunnel (Jožica Piškur, Sebastjan Šlajpah, Bojan Nemec, Matjaž Mihelj, Marko Munih)....Pages 329-336 Feedforward Control Approaches to Bidirectional Antagonistic Actuators Based on Learning (Nikola Knežević, Branko Lukić, Kosta Jovanović)....Pages 337-345 Knowledge Acquisition Through Human Demonstration for Industrial Robotic Assembly (Timotej Gašpar, Miha Deniša, Aleš Ude)....Pages 346-353 Front Matter ....Pages 355-355 Extension of Matlab’s PDE Toolbox for Developing Bionic Structural Optimization Methods: Overlapping Region Concept (Yilun Sun, Tim C. Lueth)....Pages 357-364 Kinematic Design of a Hybrid Mechanism for Bone Reduction Surgery (Terence Essomba, Sinh Nguyen Phu)....Pages 365-373 Pneumo-tronic Perturbator for the Study of Human Postural Responses (Daniela Maffiodo, Walter Franco, Carlo De Benedictis, Maria Paterna, Giovanni Gerardo Muscolo, Silvestro Roatta et al.)....Pages 374-383 Tilt-Twist Method Using Inertial Sensors to Assess Spinal Posture During Gait (Elisa Digo, Giuseppina Pierro, Stefano Pastorelli, Laura Gastaldi)....Pages 384-392 Wrist Rehabilitation Equipment Based on the Fin-Ray® Effect (Andrea Deaconescu, Tudor Deaconescu)....Pages 393-401 A Two-Degree of Freedom Mobile Ankle Rehabilitation Unit (MARU) to Improve and Track Joint Mobility (Samuel Detzel, Alexandra Mercader, Christian Dietz, Go Nakamura, Tim C. Lueth)....Pages 402-409 Model Based Analysis of Trunk Exoskeleton for Human Efforts Reduction (Elisa Panero, Giovanni Gerardo Muscolo, Stefano Pastorelli, Laura Gastaldi)....Pages 410-418 Front Matter ....Pages 419-419 Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform (Juan Sandoval, Med Amine Laribi, Saïd Zeghloul)....Pages 421-429 Collaborative Robotics Safety Control Application Using Dynamic Safety Zones Based on the ISO/TS 15066:2016 (Vincenzo Di Cosmo, Andrea Giusti, Renato Vidoni, Michael Riedl, Dominik Tobias Matt)....Pages 430-437 Versatile Collaborative Robot Applications Through Safety-Rated Modification Limits (Mathias Brandstötter, Titanilla Komenda, Fabian Ranz, Philipp Wedenig, Hubert Gattringer, Lukas Kaiser et al.)....Pages 438-446 Kinematic and Force Experiments on Cadavers for the Specification of a Tele-Operated Craniotomy Robot (Terence Essomba, Juan Sandoval, Med Amine Laribi, Chieh-Tsai Wu, Cyril Breque, Said Zeghloul et al.)....Pages 447-454 Efficient, Risk-Encoding Octrees for Path Planning with a Robot Manipulator (Tobias Werner, David Harrer, Dominik Henrich)....Pages 455-462 Structural Compliance Effects on the Accuracy and Safety of a R-CUBE Haptic Device (Giuseppe Carbone, Antonio Acinapura, Domenico Mundo, Ibrahimcan Gorgulu, Mehmet Ismet Can Dede)....Pages 463-470 Front Matter ....Pages 471-471 Adaptive Recognition for Tracking of Moving Objects (Karol Dobrovodský, Pavel Andris)....Pages 473-478 Probabilistic Orientation Resolution for Near Symmetrical Objects Using Depth Images (Nawal Hafez, Vincent Dietrich, Michael Zwick)....Pages 479-487 Generation of Elevation Maps for Planning and Navigation of Vehicles in Rough Natural Terrain (Hannan Ejaz Keen, Karsten Berns)....Pages 488-495 Learning to Predict 2D Object Instances by Applying Model-Based 6D Pose Estimation (Hannes Kisner, Tim Schreiter, Ulrike Thomas)....Pages 496-504 Dataset Generation Using a Simulated World (Axel Vierling, Tanittha Sutjaritvorakul, Karsten Berns)....Pages 505-513 Convolutional Encoder-Decoder Networks for Robust Image-to-Motion Prediction (Barry Ridge, Rok Pahič, Aleš Ude, Jun Morimoto)....Pages 514-523 Front Matter ....Pages 525-525 A Swarm Algorithm Inspired by Tree-Dwelling Bats. Experiments and Evaluations (Ján Zelenka, Tomáš Kasanický, Ivana Budinská)....Pages 527-534 Secure Sharing of Robot and Manufacturing Resources in the Cloud for Research and Development (Florin Anton, Theodor Borangiu, Silviu Răileanu, Silvia Anton, Nick Ivănescu, Iulia Iacob)....Pages 535-543 Communication Between Robots over Intelligent Objects Realized by RFID Tags (Christian Thormann, Alexander Winkler)....Pages 544-552 Average Consensus with Bounded Execution Under Quantization Noise (Martin Kenyeres, Jozef Kenyeres)....Pages 553-560 Back Matter ....Pages 561-563 This book presents the proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2019, held at the Fraunhofer Zentrum and the Technische Universitèat in Kaiserslautern, Germany, on 19-21 June 2019. The conference brought together academic researchers in robotics from 20 countries, mainly affiliated to the Alpe-Adria-Danube Region and covered all major areas of robotic research, development and innovation as well as new applications and current trends. Offering a comprehensive overview of the ongoing research in the field of robotics, the book is a source of information and inspiration for researchers wanting to improve their work and gather new ideas for future developments. It also provides researchers with an innovative and up-to-date perspective on the state of the art in this area