ROMANSY 21 -- Robot design, dynamics and control : proceedings of the 21st CISM-IFToMM Symposium, June 20-23, Udine, Italy

This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community. Front Matter....Pages i-xii Front Matter....Pages 1-1 Innovations in Infrastructure Service Robots....Pages 3-16 The New Robotics Age: Meeting the Physical Interactivity Challenge....Pages 17-18 Front Matter....Pages 19-19 Robust Inverse Kinematics at Position Level by Means of the Virtual Redundant Axis Method....Pages 21-29 Redundancy Resolution of a 9 DOF Serial Manipulator Under Hard Task Constraints....Pages 31-38 Geometry and Direct Kinematics of Six-DOF Three-Limbed Parallel Manipulator....Pages 39-46 Learning Global Inverse Kinematics Solutions for a Continuum Robot....Pages 47-54 A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps....Pages 55-64 Position Kinematics of a 3-RRS Parallel Manipulator....Pages 65-72 Kinematic Analysis of a Single-Loop Translational Manipulator....Pages 73-79 A Measure of the Distance Between Two Rigid-Body Poses Based on the Use of Platonic Solids....Pages 81-89 Front Matter....Pages 91-91 Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains....Pages 93-101 Mechanics of Mobile Robots with Mecanum Wheels....Pages 103-111 Design of Partially Balanced 5R Planar Manipulators with Reduced Center of Mass Acceleration (RCMA)....Pages 113-122 An Alternative Approach to the Dynamics Analysis of Closed-Loop Mechanisms....Pages 123-131 Lagrangian Based Dynamic Analyses of Delta Robots with Serial-Parallel Architecture....Pages 133-141 Front Matter....Pages 143-143 Adaptive Model Predictive Control Design for Underactuated Multibody Systems with Uncertain Parameters....Pages 145-152 Control and Experiments with Energy-Saving SCARA Robots....Pages 153-161 Control Design for Pneumatic Manipulation Robot....Pages 163-170 Adaptive Edge Features Estimation for Humanoid Robot Visual Perception....Pages 171-177 Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation....Pages 179-188 Front Matter....Pages 189-189 Human-Powered Robotics—Concept and One-DOF Prototype....Pages 191-198 Gripping Tests on an Underactuated Self-adapting Hand Prototype....Pages 199-206 Combined Structural and Dimensional Synthesis of Serial Robot Manipulators....Pages 207-216 Development of the Acroboter Service Robot Platform....Pages 217-224 The Inversion of Motion of Bristle Bots: Analytical and Experimental Analysis....Pages 225-232 Design of a Compliant Environmentally Interactive Snake-Like Manipulator....Pages 233-240 Front Matter....Pages 241-241 Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human....Pages 243-250 Design of a Dexterous Hand for a Multi-hand Task....Pages 251-258 Facial Expression Design for the Saxophone Player Robot WAS-4....Pages 259-266 Disturbance Force Generator for Biped Robots....Pages 267-274 LARMbot: A New Humanoid Robot with Parallel Mechanisms....Pages 275-283 Human-Inspired Humanoid Balancing and Posture Control in Frontal Plane....Pages 285-292 Compliant Actuator Dedicated for Humanoidal Robot—Design Concept....Pages 293-300 Front Matter....Pages 301-301 Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation....Pages 303-310 End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder....Pages 311-319 Design of a Tendon-Drive Manipulator for Positioning a Probe of a Cooperative Robot System for Fault Diagnosis of Solar Panels at Mega Solar Power Plant....Pages 321-328 Physical Human-Robot Interaction: Increasing Safety by Robot Arm’s Posture Optimization....Pages 329-337 Front Matter....Pages 339-339 Assessing the Orbital Stability for Walking with Four Prosthetic Feet at Different Speeds....Pages 341-349 Development of Rotary Type Movers Discretely Interacting with Supporting Surface and Problems of Control Their Movement....Pages 351-359 Parameter Optimization for Exoskeleton Control System Using Sobol Sequences....Pages 361-368 Front Matter....Pages 339-339 Study of RE-Gait® as the Device That Promotes Walking Using a Two-Dimensional Emotion Map....Pages 369-376 Developement of Road Condition Categorizing System for Manual Wheelchair Using Mahalanobis Distance....Pages 377-384 Control of a Self-adjusting Lower Limb Exoskeleton for Knee Assistance....Pages 385-392 Front Matter....Pages 393-393 Pilot Experiments with the Human-Friendly Walking Assisting Robot Vehicle (hWALK)....Pages 395-402 Conceptual Design of a Cable Driven Parallel Mechanism for Planar Earthquake Simulation....Pages 403-411 Comparison of Dynamic Properties of Two KUKA Lightweight Robots....Pages 413-420 Comparison of Serial and Quasi-Serial Industrial Robots for Isotropic Tasks....Pages 421-429 On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots....Pages 431-438 Automatic Robot Taping: Strategy and Enhancement....Pages 439-448