Advances in Service and Industrial Robotics: Results of RAAD (Mechanisms and Machine Science, 84)

This book gathers contributions by researchers from several countries on all major areas of robotic research, development and innovation, as well as new applications and current trends. The topics covered include: novel designs and applications of robotic systems, intelligent cooperating and service robots, advanced robot control, human-robot interfaces, robot vision systems, mobile robots, humanoid and walking robots, bio-inspired and swarm robotic systems, aerial, underwater and spatial robots, robots for ambient assisted living, medical robots and bionic prostheses, cognitive robots, cloud robotics, ethical and social issues in robotics, etc. Given its scope, the book offers a source of information and inspiration for researchers seeking to improve their work and gather new ideas for future developments. The contents reflect the outcomes of the activities of RAAD (International Conference on Robotics in Alpe-Adria-Danube Region) in 2020. Front Matter ....Pages i-xv Front Matter ....Pages 1-1 Optimal Design of a Rehabilitation Four Cable-Driven Parallel Robot for Daily Living Activities (Ferdaws Ennaiem, Abdelbadiâ Chaker, Juan Sebastián Sandoval Arévalo, Med Amine Laribi, Sami Bennour, Abdelfattah Mlika et al.)....Pages 3-12 Pneumatic Equipment for Ankle Rehabilitation by Continuous Passive Motion (Andrea Deaconescu, Tudor Deaconescu)....Pages 13-21 Simulation Platform for Crane Visibility Safety Assistance (Tanittha Sutjaritvorakul, Axel Vierling, Jakub Pawlak, Karsten Berns)....Pages 22-29 Design of Robotic Braces for Patients with Scoliosis (Rahul Ray, Laurence Nouaille, Briac Colobert, Gérard Poisson)....Pages 30-37 Comparison Between Two Methods of Cables Tensions Optimization of a Cable Driven Parallel Robot (Hajer Ben Amor, Sami Bennour, Abdelfattah Mlika)....Pages 38-45 Computational Method for Muscle Forces Estimation Based on Hill Rheological Model (Olfa Jemaa, Sami Bennour, David Daney, Lotfi Romdhane)....Pages 46-53 Design of a Variable Stiffness Joint for a Five-Bar-Mechanism (Maria Guadalupe Contreras-Calderón, Eduardo Castillo-Castañeda)....Pages 54-63 Visual Control Based Musculotendon Force Estimation in the Human Upper-Limb (Souha Baklouti, Olfa Jemaa, Sami Bennour)....Pages 64-72 Design and Simulation of an Underactuated Exoskeleton Mechanism for a User-Oriented Leg Exercising (Yao Shuangji, Giuseppe Carbone)....Pages 73-81 Front Matter ....Pages 83-83 Remote Center of Motion for Redundant Robotic-Assisted Ultrasound Guided Regional Anesthesia (Mohammad Alkhatib, Cyril Novales, Laurence Nouaille, Adel Hafiane, Pierre Vieyres)....Pages 85-92 Reference Frame Identification and Distributed Control Strategies in Human-Robot Collaboration (Alberto Borboni, Giuseppe Carbone, Nicola Pellegrini)....Pages 93-102 Static Balancing of a 5-DoF Mechanism with Manual Reconfiguration Feature (Terence Essomba, Zi-Wei Zhao)....Pages 103-111 Novel Safety Criterion for Synthesis of Cable Driven Parallel Robots (Ines Ben Hamida, Med Amine Laribi, Abdelfattah Mlika, Lotfi Romdhane, Saïd Zeghloul, Giuseppe Carbone)....Pages 112-120 Human Activity Recognition Enhanced Robot-Assisted Minimally Invasive Surgery (Hang Su, Wen Qi, Chenguang Yang, Jiehao Li, Xuanyi Zhou, Giancarlo Ferrigno et al.)....Pages 121-129 Online Payload Identification of a Franka Emika Robot for Medical Applications (Souad Salah, Juan Sandoval, Moncef Ghiss, Med Amine Laribi, Saïd Zeghloul)....Pages 130-136 Robot Motion Control Using EMG Signals and Expert System for Teleoperation (George Pagounis, Panagiotis Koustoumpardis, Nikos Aspragathos)....Pages 137-148 PRSX: An End-Effector for Pronation and Supination Adaptable to Arm Rehabilitation Devices (Maria Guadalupe Contreras-Calderón, Eduardo Castillo-Castañeda)....Pages 149-158 Criteria for the Design and Application of Socially Assistive Robots in Interventions for Children with Autism (Ilias A. Katsanis, Vassilios C. Moulianitis)....Pages 159-167 Front Matter ....Pages 169-169 Generation of Smooth Cartesian Paths Using Radial Basis Functions (Leon Žlajpah, Tadej Petrič)....Pages 171-180 Combining Virtual and Physical Guides for Autonomous In-Contact Path Adaptation (Tadej Petrič, Leon Žlajpah)....Pages 181-189 A Framework for the Study of Human-Robot Collaboration in Rehabilitation Practices (Giorgia Chiriatti, Giacomo Palmieri, Matteo Claudio Palpacelli)....Pages 190-198 Dyadic Human-Human Interactions in Reaching Tasks: Fitts’ Law for Two (Rebeka Kropivšek Leskovar, Jernej Čamernik, Tadej Petrič)....Pages 199-207 Maximizing the End-Effector Cartesian Stiffness Range for Kinematic Redundant Robot with Compliance (Branko Lukić, Kosta Jovanović, Nikola Knežević, Leon Žlajpah, Tadej Petrič)....Pages 208-217 Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots (Maja Trumić, Kosta Jovanović, Adriano Fagiolini)....Pages 218-226 Shaking Force Balancing of the Orthoglide (Jing Geng, Vigen Arakelian, Damien Chablat, Philippe Lemoine)....Pages 227-234 A Boosted Decision Tree Approach for a Safe Human-Robot Collaboration in Quasi-static Impact Situations (Nemanja Kovincic, Hubert Gattringer, Andreas Müller, Mathias Brandstötter)....Pages 235-244 Combining the Robot Operating System with Building Information Modeling for Robotic Applications in Construction Logistics (Camilla Follini, Michael Terzer, Carmen Marcher, Andrea Giusti, Dominik Tobias Matt)....Pages 245-253 Front Matter ....Pages 255-255 Design of a Thunniform Swimming Robot in a Multiphysics Environment (Daniele Costa, Giacomo Palmieri, Matteo Palpacelli, David Scaradozzi)....Pages 257-265 Analysis of Tire Temperature Influence on Vehicle Dynamic Behaviour Using a 15 DOF Lumped-Parameter Full-Car Model (Michele Perrelli, Flavio Farroni, Francesco Timpone, Domenico Mundo)....Pages 266-274 Motion Sickness Minimisation in Autonomous Vehicles Using Optimal Control (Zaw Htike, Georgios Papaioannou, Efstathios Siampis, Efstathios Velenis, Stefano Longo)....Pages 275-282 A Tire/Road Interaction Tool for the Evaluation of Tire Wear for Commercial Vehicles (M. De Martino, Argemiro L. A. Costa, F. Timpone, A. Sakhnevych)....Pages 283-293 Multi Actuation Scheme for Path-Following Control of Autonomous Vehicles (Javad Ahmadi, Efstathios Velenis, Heimoud El Vagha, Chenhui Lin, Boyuan Li, Stefano Longo et al.)....Pages 294-301 Front Matter ....Pages 303-303 A Saffron Spice Separation System with Computer Vision (A. Manuello Bertetto, A. Prete)....Pages 305-314 Prismatic Delta Robot: A Lagrangian Approach (Federico Colombo, Luigi Lentini)....Pages 315-324 Italian Contributions to RAAD (Marco Ceccarelli)....Pages 325-333 Minimum-Energy Trajectory Planning for Industrial Robotic Applications: Analytical Model and Experimental Results (Lorenzo Scalera, Giovanni Carabin, Renato Vidoni, Alessandro Gasparetto)....Pages 334-342 Front Matter ....Pages 343-343 Conceptual Design and Control of a Sitting-Type Lower-Limb Rehabilitation System Established on a Spatial 3-PRRR Parallel Manipulator (Santhakumar Mohan, Parvathi Sunilkumar, Larisa Rybak, Dmitry Malyshev, Sergey Khalapyan, Anna Nozdracheva)....Pages 345-355 The First Type of Singularity of a 3-PRRS Parallel Manipulator (Zhumadil Baigunchekov, Med Amine Laribi, Myrzabai Izmambetov, Zhadyra Zhumasheva, Rustem Kaiyrov)....Pages 356-363 Inverse Kinematics of a 3-PRPS Type Parallel Manipulator (Zhumadil Baigunchekov, Said Zeghloul, Abzal Kassinov)....Pages 364-370 Structurally Parametric Synthesis of a RoboMech Class Parallel Manipulator with Three DOF (Zhumadil Baigunchekov, Sobh Tarek, Sarosh Patel, Azamat Mustafa)....Pages 371-379 Functional Design of a Novel Over-Actuated Mobile Robotic Platform for Assistive Tasks (Luca Carbonari, Andrea Botta, Paride Cavallone, Giuseppe Quaglia)....Pages 380-389 Mechanism for the Locomotion Layout Reconfiguration of the Agri_q Mobile Robot (Carmen Visconte, Paride Cavallone, Luca Carbonari, Andrea Botta, Giuseppe Quaglia)....Pages 390-399 Design and Simulation of a Parallel-Mechanism Testbed for Head Impact (José Luis Rueda Arreguín, Marco Ceccarelli, Christopher René Torres San Miguél)....Pages 400-407 A New RCM Mechanism for an Ear and Facial Surgical Application (Guillaume Michel, Durgesh Haribhau Salunkhe, Damien Chablat, Philippe Bordure)....Pages 408-418 Design of Serial Link Structure-Parallel Wire System for Virtual Reality Rehabilitation and Assessment (Vishal Ramadoss, Mohamed Sadiq Ikbal, Dimiter Zlatanov, Matteo Zoppi)....Pages 419-427 Mathematical Model and Experimental Validation for a Four Bar Mechanism with a Flexible Coupler Link (Daniel Rodríguez Flores, Héctor Cervantes Culebro, Carlos-Alberto Cruz-Villar)....Pages 428-437 Some Quality Measures in Designing Compliant Mechanisms for Robotic Devices (Stefan Havlik, Jaroslav Hricko)....Pages 438-447 Prototype Design and Testing of TORVEastro, Cable-Driven Astronaut Robot (Francesco Samani, Marco Ceccarelli)....Pages 448-455 Design and Lab Experience for a Pipeline Service Robot in Space Orbital Stations (Tao Zheng, Hui Li, Qiang Huang, Xiang Wang, Marco Ceccarelli, Zhihong Jiang et al.)....Pages 456-465 Nonlinear Dynamics of a Spatial Two Link Chain (Dan B. Marghitu, Dorian Cojocaru)....Pages 466-475 Front Matter ....Pages 477-477 Autonomous Navigation in Vineyards with Deep Learning at the Edge (Diego Aghi, Vittorio Mazzia, Marcello Chiaberge)....Pages 479-486 Iterative Learning Control of Hard Constrained Robotic Manipulators (Kaloyan Yovchev, Lyubomira Miteva, Kamen Delchev, Evgeniy Krastev)....Pages 487-495 Generalization Based Database Acquisition for Robot Learning in Reduced Space (Zvezdan Lončarević, Rok Pahič, Mihael Simonič, Aleš Ude, Andrej Gams)....Pages 496-504 Analysis of Different Methods to Close the Reality Gap for Instance Segmentation in a Flexible Assembly Cell (Nawal Hafez, Vincent Dietrich, Stefan Roehrl)....Pages 505-515 Data-Driven Synthesis of Perception Pipelines via Hierarchical Planning (Vincent Dietrich, Bernd Kast, Sebastian Albrecht, Michael Beetz)....Pages 516-524 Crashing to Learn, Learning to Survive: Planning in Dynamic Environments via Domain Randomization (Sarath S. Menon, R. Sakthi Vignesh, Santhakumar Mohan)....Pages 525-534 Target Manipulation in Nuclear Physics Experiment with Ion Beams (Diego Sartirana, Daniela Calvo, Vittoria Capirossi, Carlo Ferraresi, Felice Iazzi, Federico Pinna et al.)....Pages 535-543 Front Matter ....Pages 545-545 SLIP-Based Concept of Combined Limb and Body Control of Force-Driven Robots (Patrick Vonwirth, Atabak Nejadfard, Krzysztof Mianowski, Karsten Berns)....Pages 547-556 Wizard of Botz: A Novel Approach to the Wizard of Oz Experiment (Kim Wölfel, Dominik Henrich)....Pages 557-564 Cloud-Based Digital Twin for Robot Integration in Intelligent Manufacturing Systems (Florin Anton, Theodor Borangiu, Silviu Răileanu, Silvia Anton)....Pages 565-573 Evaluation of Serial Metamorphic Manipulator Structures Considering Inertia Characteristics (N. A. Stravopodis, L. Katrantzis, V. C. Moulianitis, C. Valsamos, N. A. Aspragathos)....Pages 574-587 Vision-Way Testing in Design of Small Compliant Mechanisms (Jaroslav Hricko, Stefan Havlik)....Pages 588-595 Determination of Object Location for Robotic Grasping Using Depth Vision Sensor (Denis Chikurtev, Kaloyan Yovchev, Ava Chikurteva, Nayden Chivarov)....Pages 596-605 Back Matter ....Pages 607-609 This Book Gathers The Proceedings Of The 29th International Conference On Robotics In Alpe-adria-danube Region (raad 2020), Held At The Pprime Institute In Futuroscope-poitiers, France. The Conference Brought Together Researchers From Several Countries And Covered All Major Areas Of Robotic Research, Development And Innovation, As Well As New Applications And Current Trends. The Topics Covered Include: Novel Designs And Applications Of Robotic Systems, Intelligent Cooperating And Service Robots, Advanced Robot Control, Human-robot Interfaces, Robot Vision Systems, Mobile Robots, Humanoid And Walking Robots, Bio-inspired And Swarm Robotic Systems, Aerial, Underwater And Spatial Robots, Robots For Ambient Assisted Living, Medical Robots And Bionic Prostheses, Cognitive Robots, Cloud Robotics, Ethical And Social Issues In Robotics, Etc. Given Its Scope, The Book Offers A Source Of Information And Inspiration For Researchers Seeking To Improve Their Work And Gather New Ideas For Future Developments.