ROMANSY 18 - Robot Design, Dynamics and Control: Proceedings of the Eighteenth CISM-IFToMM Symposium (CISM International Centre for Mechanical Sciences (524))

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. Front Matter....Pages i-xii Front Matter....Pages 1-1 Where Future Robots should Go and should not Go....Pages 3-18 Robust Drives for Parallel Robots....Pages 19-28 Minimal-Form Multibody Dynamics for Embedded Multidisciplinary Applications....Pages 29-38 Front Matter....Pages 39-39 Constructive Redesign of a Modular Metamorphic Microgripper....Pages 41-48 A One-Motor Full-Mobility 6- P US Manipulator....Pages 49-56 Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators....Pages 57-64 Decoupled Parallel Manipulator with Universal Joints and Additional Constraints....Pages 65-72 Positio : A 4R Serial Manipulator Having a Surface of Isotropic Positioning....Pages 73-80 Joint space and workspace analysis of a two-DOF closed-chain manipulator....Pages 81-90 Identification of Base Parameters for Large-scale Kinematic Chains Based on Physical Consistency Approximation by Polyhedral Convex Cones....Pages 91-98 Modeling Effects on Free Vibration of a Two-Link Flexible Manipulator....Pages 99-107 Chatter Suppression in Sliding Mode Control: Strategies and Tuning Methods....Pages 109-116 On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm....Pages 117-124 Determination of Mobility in a Kinematic Chain by Properly Using the Jacobian Matrix....Pages 125-132 Micro Hinges and their Application to Micro Robot Mechanisms....Pages 133-140 Parallel R P R -‖- R P R Manipulator Generating 2-DOF Translation along One-Sheet Revolute Hyperboloid....Pages 141-148 A Study on the Effects of Cable Mass and Elasticity in Cable-Based Parallel Manipulators....Pages 149-156 Front Matter....Pages 157-157 Motion Planning of the Trident Snake Robot: An Endogenous Configuration Space Approach....Pages 159-166 A Novel Stair-Climbing Wheelchair with Variable Configuration Four-Bar Linkage —Mechanism Design and Kinematics—....Pages 167-174 Motion and Force measures on tortoises to design and control a biomimetic quadruped robot....Pages 175-182 Front Matter....Pages 157-157 Mechanism Design Improvements of the Airway Management Training System WKA-3....Pages 183-190 Design for a Dual-Arm Space Robot....Pages 191-198 Mechanical Design of a Novel Biped Climbing and Walking Robot....Pages 199-206 Front Matter....Pages 207-207 Development of the Anthropomorphic Waseda Saxophonist Robot....Pages 209-216 Design and Simulation of a Waist-Trunk System for a Humanoid Robot....Pages 217-224 Safe Navigation in Dynamic Environments....Pages 225-232 Development of a Visual Interface for Sound Parameter Calibration of the Waseda Flutist Robot WF-4RIV....Pages 233-240 Simulation of a Humanoid Robot walking gait on Moon Surface....Pages 241-248 Development of New Biped Foot Mechanism Mimicking Human’s Foot Arch Structure....Pages 249-256 Design and Development of Bio-mimetic Quadruped Robot....Pages 257-264 Static and Dynamic Maneuvers With a Tendon-Coupled Biped Robot....Pages 265-272 Front Matter....Pages 273-273 Kinematic Calibration of Small Robotic Work Spaces Using Fringe Projection....Pages 275-282 Forward Dynamics of 3-DOF Parallel Robots: a Comparison Among Different Models....Pages 283-290 Workspace Generation of Planar Wire-Actuated Parallel Manipulators with Antipodal Method....Pages 291-298 Trajectory Following and Vibration Control for Flexible-link Manipulators....Pages 299-306 Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning....Pages 307-314 Passivity Based Backstepping Control of an Elastic Robot....Pages 315-322 Economical Control of Robot Systems Using Potential Energy....Pages 323-330 Motion Control of an Under-Actuated Service Robot Using Natural Coordinates....Pages 331-338 Control Law Synthesis for Slip Reduction of Wheeled Robot....Pages 339-346 Front Matter....Pages 273-273 A Kinematic Model of the Tibio-Talar Joint Using a Minimum Energy Principle....Pages 347-356 Front Matter....Pages 357-357 Development of the Ultrasound Probe Holding Robot WTA-1RII and an Automated Scanning Algorithm based on Ultrasound Image Feedback....Pages 359-366 RFID-Assisted Detection and Handling of Packages....Pages 367-374 Virtual Haptic Map Using Haptic Display Technology for Visually Impaired....Pages 375-382 Extraction of Semantic Information from the 3D Laser Range Finder....Pages 383-390 The Application of ICP and SIFT Algorithms for Mobile Robot Localization....Pages 391-398 Estimation of Complex Anatomical Joint Motions Using a Spatial Goniometer....Pages 399-406 Front Matter....Pages 407-407 Modeling and Motion Planning for a Population of Mobile Robots....Pages 409-416 Reconfigurable Planar Three-Legged Parallel Manipulators....Pages 417-424 Multi-Objective Trajectory Planning in Wire-Actuated Parallel Manipulators....Pages 425-432 Design of the Facial Expression Mechanism for Humanoid Robots....Pages 433-440 A Method for Comparing Human Postures from Motion Capture Data....Pages 441-448 Evaluation of the KOBIAN and HABIAN Emotion Expression Humanoid Robots with European Elderly People....Pages 449-456 An Approach to the Dynamics and Kinematical Control of Motion Systems Consisting of a Chain of Bodies....Pages 457-464 Modular Design of Emotion Expression Humanoid Robot KOBIAN....Pages 465-472 A Random-Profile Approach for Trajectory Planning of Wheeled Mobile Robots With non-Slipping Constraint....Pages 473-480 The Second Type of Singularity Analysis of the New Parallel Manipulator with 6 Degree-of-Freedom....Pages 481-488 Back Matter....Pages 489-491