Romansy 11: Theory and Practice of Robots and Manipulators: Proceedings of the Eleventh Cism-Iftomm Symposium (Cism International Centre for Mechanical Sciences Courses and Lectures)

The CISM-IFToMM RoManSy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the eleven symposia to date present a world view of the state of the art. The proceedings of this eleventh edition focus mainly on problems of mechanical engineering and control. Front Matter....Pages ii-x Front Matter....Pages 1-1 Mobile Manipulator Systems....Pages 3-10 Front Matter....Pages 11-11 Towards Reducing Thruster-Flexibility Interactions in Space Robots....Pages 13-20 Modeling and Optimization of the Tube-Crawling Robot....Pages 21-26 An Investigation of a Quality Index for the Stability of In-Parallel Planar Platform Devices....Pages 27-35 Workspaces of Planar Parallel Manipulators....Pages 37-44 Nonlinear Control of a Parallel Robot Including Motor Dynamics....Pages 45-52 An Inverse Force Analysis of the Spherical 3-DOF Parallel Manipulator with Three Linear Actuators Considered as Spring System....Pages 53-60 Front Matter....Pages 61-61 Experimental Research of Dynamics of an Elephant Trunk Type Elastic Manipulator....Pages 63-72 Vibration Suppressing for Hydraulically Driven Large Redundant Manipulators....Pages 73-80 Nonlinear Dynamics of Computer Controlled Machines....Pages 81-88 Identification and Compensation of Gear Friction for Modeling of Robots....Pages 89-96 Front Matter....Pages 97-97 Designing Manipulators for Both Kinematic and Dynamic Isotropic Properties....Pages 99-106 Group Theoretical Synthesis of Binary Manipulators....Pages 107-114 Distributed Kinematic Design from Task Specification....Pages 115-122 Optimal Design of a Shape Memory Alloy Actuator for Microgrippers....Pages 123-130 Front Matter....Pages 131-131 On Direct-Search Optimization of Biped Walking....Pages 133-140 Development of a Biped Walking Robot Adapting to the Real World....Pages 141-148 Simulation of an Anthropomorphic Running Robot Using the Multibody Code Mechanica Motion....Pages 149-156 Gait Control Method of Robot and Biological Systems by Use of Hojo-Brain....Pages 157-164 Gait Rhythm Generators of a Two Legged Walking Machine....Pages 165-171 Front Matter....Pages 173-173 Development of a Mechanical Simulation of Human Walking....Pages 175-187 Mechanical Design of an Anthropomorphic Electropneumatic Walking Robot....Pages 189-196 Energetic Analysis of Three Classical Structures of Walking Robots Leg....Pages 197-204 Dynamic Control of Wheeled Mobile Robot Using Sliding Mode....Pages 205-212 Simulation Study of a Group-Behavior of Micro-Robots on the Model of Insect’s Behavior....Pages 213-219 Front Matter....Pages 221-221 Active Coordination of Robotic Terrain-Adaptive Wheeled Vehicles for Power Minimization....Pages 223-232 Pulse Width Modulated Control for the Dynamic Tracking of Wheeled Mobile Robots....Pages 233-240 Manoeuvre Analysis of Multilegged Walking Robots with Dynamic Constraints Between Leg Propulsors....Pages 241-248 Front Matter....Pages 249-249 Biomechanical Aspect of a Mastication Robot....Pages 251-258 A Strategy for the Finger-Arm Coordinated Motion Analysis of Human Motion in Violin Playing....Pages 259-266 Front Matter....Pages 267-267 High Performance Control of Manipulators Using Base Force/Torque Sensing....Pages 269-276 Control of a Redundant SCARA Robot in the Presence of Obstacles....Pages 277-284 Experiments of Kinematic Control on a Two-Robot System....Pages 285-292 Optimal Path Planning for Moving Objects....Pages 293-300 Stiffness Control of an Object Grasped by a Multifingered Hand....Pages 301-308 Front Matter....Pages 309-309 Practical Stabilisation of Robots Interacting with Dynamic Environment by Decentralised Control....Pages 311-318 Control of Reduntant Robots at Singularities in Degenerate Directions....Pages 319-326 Application of Neural Networks for Control of Robot Manipulators-Simulation and Implementation....Pages 327-334 Front Matter....Pages 335-335 Active Force Control of Pneumatic Actuators....Pages 337-346 Using Backpropagation Algorithm for Neural Adaptive Control: Experimental Validation on an Industrial Mobile Robot....Pages 347-354 Front Matter....Pages 335-335 Hopfield’s Artificial Neural Networks In Multiobjective Optimization Problems of Resource Allocations Control....Pages 355-362 Front Matter....Pages 363-363 Type Synthesis of Contact Sensing Elements for Robotic Fixturing....Pages 365-372 Object-Oriented Approach to Programming a Robot System....Pages 373-380 Contact Tasks Realization by Sensing Contact Forces....Pages 381-388 Front Matter....Pages 389-389 Application of Force Control in Telerobotics....Pages 391-398 Development and Application of the Telbot System....Pages 399-408 A Decision-Making System for the Initial Stage Implementation of Assembly Strategies....Pages 409-418 Back Matter....Pages 419-432