ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMM Symposium (CISM International Centre for Mechanical Sciences, 601)

This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2020, the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rather than industrial aspects. Bringing together researchers from a broad range of countries, the symposium is held bi-annually and plays a vital role in the development of the theory and practice of robotics, as well as the mechanical sciences. ROMANSY 2020 marks the 23rd installment in a series that began in 1973. The event was also the first topic-specific conference of the IFToMM, though not exclusively intended for the IFToMM community. Front Matter ....Pages i-xiii Active Visualization of Non-destructive Inspection for Metal Using Terahertz Camera and Light Source (Shunsuke Yamada, Teppei Tsujita, Masahiro Kurosaki, Tetsuo Tomizawa, Yutaka Sakuma, Ryosuke Eto)....Pages 1-7 Model-Based Dynamic Human Tracking and Reconstruction During Dynamic SLAM (Huayan Zhang, Tianwei Zhang, Lei Zhang)....Pages 8-15 Development of Robust Ridge Detection Method and Control System for Autonomous Navigation of Mobile Robot in Agricultural Farm (Shunsuke Fujita, Takanori Emaru, Ankit A. Ravankar, Yukinori Kobayashi)....Pages 16-23 Continuous Jumping Control Based on Virtual Model Control for a One-Leg Robot Platform (Libo Meng, Marco Ceccarelli, Zhangguo Yu, Xuechao Chen, Gao Huang, Qiang Huang)....Pages 24-33 Investigation of Parallel Connection Circuit by Hydraulic Direct-Drive System for Biped Humanoid Robot Focusing on Human Running Motion (Hideki Mizukami, Takuya Otani, Juri Shimizu, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami et al.)....Pages 34-42 Maximal Output Admissible Set of Foot Position Control in Humanoid Walking (Ko Yamamoto, Ryo Yanase, Yoshihiko Nakamura)....Pages 43-51 Control System Design for Human Assisting Robot (Teresa Zielinska, Michele Tartari)....Pages 52-59 Development of a Switchable Wearable Robot for Rehabilitation After Surgery of Knee (Koji Makino, Teppei Ogura, Masahiro Nakamura, Hidetsugu Terada)....Pages 60-67 Design and Testing of BIT Flying Robot (Yunqi Liu, Long Li, Marco Ceccarelli, Hui Li, Qiang Huang, Xiang Wang)....Pages 68-75 Surgical Skill Analysis Based on the Way of Grasping Organs with Forceps in Dissection Procedure of Laparoscopic Surgery (Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita, Kazuya Sase, Xiaoshuai Chen et al.)....Pages 76-83 Mechanism and Control of Powered Prosthesis with Bi-articular Muscle-Type Hydraulic Bilateral Servo Actuator (Takanori Higashihara, Toru Oshima, Takumi Tamamoto, Kengo Ohnishi, Ken’ichi Koyanagi, Yukio Saito)....Pages 84-91 Development of a Remote-Controlled Drone System by Using Only Eye Movements for Bedridden Patients (Atsunori Kogawa, Moeko Onda, Yoshihiro Kai, Tetsuya Tanioka, Yuko Yasuhara, Hirokazu Ito)....Pages 92-99 Development of a Climbing-Robot for Spruce Pruning: Preliminary Design and First Results (Giovanni Carabin, Davide Emanuelli, Raimondo Gallo, Fabrizio Mazzetto, Renato Vidoni)....Pages 100-108 A Suspended Cable-Driven Parallel Robot for Human-Cooperative Object Transportation (Yusuke Sugahara, Guangcan Chen, Nanato Atsumi, Daisuke Matsuura, Yukio Takeda, Ryo Mizutani et al.)....Pages 109-117 Automatic Planning of Psychologically Less-Stressful Trajectories in Collaborative Workstations: An Integrated Toolbox for Unskilled Users (Rafael A. Rojas, Manuel A. Ruiz Garcia, Luca Gualtieri, Erich Wehrle, Erwin Rauch, Renato Vidoni)....Pages 118-126 A New Method of Climbing Downstairs by Changing Layers of Gears of Planetary Wheels for Wheelchair (Tian-ci Jiang, Eiichiro Tanaka)....Pages 127-135 Design and Analysis of Cable-Driven Parallel Robot CaRISA: A Cable Robot for Inspecting and Scanning Artwork (Philipp Tempel, Matthias Alfeld, Volkert van der Wijk)....Pages 136-144 A Low Cost Introductory Platform for Advanced Robotic Control (Bin Wei)....Pages 145-153 Experimental Study Regarding Needle Deflection in Robotic Assisted Brachytherapy of Hepatocellular Carcinoma (Paul Tucan, Nicolae Plitea, Bogdan Gherman, Nadim al Hajjar, Corina Radu, Calin Vaida et al.)....Pages 154-161 Experimental Study of Force Transmission in 4-DOF Parallel Manipulator and Its Educational Applications (Pavel Laryushkin, Elizaveta Pukhova, Ksenia Erastova)....Pages 162-169 Dynamic Model of Servo Mechanical Press (Assylbek Jomartov, Amandyk Tuleshov, Nutpulla Jamalov, Askar Seydakhmet, Sayat Ibrayev, Moldyr Kuatova et al.)....Pages 170-178 A Decentralized Structure for the Digital Shadows of Internet of Production (Amir Shahidi, Mathias Hüsing, Burkhard Corves)....Pages 179-186 Motion Trajectory Optimization of an Assistive Device During Stairs Ascending (Bo-Rong Yang, Shuai-Hong Yu, Kai Pang, Hee-Hyol Lee, Eiichiro Tanaka)....Pages 187-194 Autonomous Flight of a Quad Tilt-Rotor UAV at Constant Altitude (Satoko Abiko, Tomohiro Harada)....Pages 195-203 Control-Based Design of a DELTA Robot (Minglei Zhu, Abdelhamid Chriette, Sébastien Briot)....Pages 204-212 Minimizing the Energy Consumption of a Delta Robot by Exploiting the Natural Dynamics (Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet)....Pages 213-221 Preliminary Design and Modeling of a Robot for Pipe Navigation with a Novel Wheel-Leg Architecture (Carl A. Nelson)....Pages 222-229 Sensitivity Analysis of Cable Actuations for Moving a Tensegrity Mechanism Along a Specified Path (Pramod Kumar Malik, Keshab Patra, Anirban Guha)....Pages 230-237 An Approach to Motion Task-Oriented, Computer-Aided Design of Origami-Inspired Mechanisms (Judith U. Merz, Felix J. Reimer, Mathias Hüsing, Burkhard Corves)....Pages 238-246 Asymmetric Spatial Beams with Symmetric Kinetostatic Behaviour (Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder)....Pages 247-254 A Semi-automatic Type Synthesis of a Closed-Loop Spatial Path-Generator (Naoto Kimura, Nobuyuki Iwatsuki)....Pages 255-263 Walking Robot Leg Design Based on Translatory Straight-Line Generator (Sayat Ibrayev, Nutpulla Jamalov, Amandyk Tuleshov, Assylbek Jomartov, Aidos Ibrayev, Aziz Kamal et al.)....Pages 264-271 Developing a Flexible Segment Unit for Redundant-DOF Manipulator Using Bending Type Pneumatic Artificial Muscle (Hiroki Tomori, Tomohiro Koyama, Hiromitsu Nishikata, Akinori Hayasaka, Ikumi Suzuki)....Pages 272-279 Gravity Compensation of Delta Parallel Robot Using a Gear-Spring Mechanism (Vu Linh Nguyen, Chin-Hsing Kuo, Chyi-Yeu Lin)....Pages 280-287 Design of the Mobile Robot Agri.q (Paride Cavallone, Carmen Visconte, Luca Carbonari, Andrea Botta, Giuseppe Quaglia)....Pages 288-296 Kinematic Design of an Adjustable Foot Motion Generator for Gait Rehabilitation (Chanatip Thongsookmark, Agnes Beckermann, Mathias Hüsing, Yukio Takeda)....Pages 297-304 Design and Construction of the DragonBall (Bir Bikram Dey, Michael Jenkin)....Pages 305-312 Wire-Pulling Mechanism with Embedded Soft Tubes for Robot Tongue (Nobutsuna Endo)....Pages 313-320 Kineto-static Analysis of a Compact Wrist Rehabilitation Robot Including the Effect of Human Soft Tissue to Compensate for Joint Misalignment (Ying-Chi Liu, Yukio Takeda)....Pages 321-329 A Mobile Robot Which Locomotes on Walls to Interact with Rodents (Soichi Yamada, Keitaro Ishibashi, Hiroya Yokoyama, Jiei Yanagi, Atsuo Takanishi, Hiroyuki Ishii)....Pages 330-337 Development of Small Robot with Inline Archimedean Screw Mechanism that Can Move Through Wetlands (Ko Matsuhiro, Katsuaki Tanaka, Shou Inoue, Tingting Zhong, Kazuki Kida, Yusuke Sugahara et al.)....Pages 338-346 Static Force Analysis of an Omnidirectional Mobile Robot with Wheels Connected by Passive Sliding Joints (Tatsuro Terakawa, Masaharu Komori)....Pages 347-354 Development of a Trapezoidal Leaf Spring for a Small and Light Variable Joint Stiffness Mechanism (Hiroki Mineshita, Takuya Otani, Kenji Hashimoto, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim et al.)....Pages 355-363 Connecting MATLAB/Octave to Perceptual, Cognitive and Control Components for the Development of Intelligent Robotic Systems (Enrique Coronado, Liz Rincon, Gentiane Venture)....Pages 364-371 Balancing of Planar 5R Symmetrical Parallel Manipulators Taking into Account the Varying Payload (Jing Geng, Vigen Arakelian)....Pages 372-379 A Wheeled Vehicle Driven by a Savonius–Magnus Wind Turbine (Marat Dosaev, Margarita Ishkhanyan, Liubov Klimina, Anna Masterova, Yury Selyutskiy)....Pages 380-386 Development of an Off-board Vision-Based Control for a Micro Aerial Vehicle (Jorge Solis, Christoffer Karlsson, Kristoffer Richardsson)....Pages 387-395 Stiffness Optimization of Delta Robots (Christian Mirz, Olaf Uzsynski, Jorge Angeles, Yukio Takeda, Burkhard Corves)....Pages 396-404 Singularity Free Mode Changes of a Redundantly Driven Two Limbs Six-Dof Parallel Robot (Takashi Harada, Yuta Kunishige)....Pages 405-413 Dynamics of Tendon Actuated Continuum Robots by Cosserat Rod Theory (Arati Ajay Bhattu, Salil Kulkarni)....Pages 414-422 Proposition of On-Line Velocity Scaling Algorithm for Task Space Trajectories (Marek Wojtyra, Łukasz Woliński)....Pages 423-431 Stability Analysis and Reconfiguration Strategy for Multi-agent D-Formation Control (Alessandro Colotti, Angelo Cenedese, Sébastien Briot, Isabelle Fantoni, Alexandre Goldsztejn)....Pages 432-440 Braking of a Solid Body Supported by Two Supports on a Horizontal Rough Plane (Marat Dosaev, Vitaly Samsonov, Liubov Klimina, Boris Lokshin, Shyh-Shin Hwang, Yury Selyutskiy)....Pages 441-448 Workspace Analysis and Torque Optimization on a Schönflies-Motion Generator (Bruno Belzile, Jorge Angeles)....Pages 449-457 Analysis of Running Expansion with Trunk and Pelvic Rotation Assist Suit by Using SLIP Model (Hongyuan Ren, Takayuki Tanaka, Kotaro Hashimoto, Akihiko Murai)....Pages 458-466 Trajectory Planning Strategy for Multidirectional Wire-Arc Additive Manufacturing (Markus Schmitz, Carlo Weidemann, Burkhard Corves, Mathias Hüsing)....Pages 467-475 Stiffness Modeling of Planar Robotic Manipulators: Model Reduction and Identifiability of Parameters (Shamil Mamedov, Dmitry Popov, Stanislav Mikhel, Alexander Klimchik, Anatol Pashkevich)....Pages 476-485 Forward Kinematic Analysis of a Rotary Hexapod (Alexey Fomin, Anton Antonov, Victor Glazunov)....Pages 486-494 Kinematics of 2-DOF AGVs with Differential Driving Wheels and Caster Wheels Modeling (Mohammadreza Montazerijouybari, Luc Baron, Sousso Kelouwani)....Pages 495-502 Motion Synthesis Using Low-Dimensional Feature Space and Its Application to Inverse Optimal Control (Soya Shimizu, Ko Ayusawa, Gentiane Venture)....Pages 503-511 An Analytical Formulation for the Geometrico-Static Problem of Continuum Planar Parallel Robots (Federico Zaccaria, Sébastien Briot, M. Taha Chikhaoui, Edoardo Id`, Marco Carricato)....Pages 512-520 Static Analysis and Design of Extendable Mechanism Inspired by Origami Structure Based on Non-overconstrained Kinematically Equivalent Mechanism (Reiji Ando, Hiroshi Matsuo, Daisuke Matsuura, Yusuke Sugahara, Yukio Takeda)....Pages 521-529 Function Approximation Technique Based Immersion and Invariance Control for an Underactuated Tower Crane System (Yang Bai, Mikhail Svinin)....Pages 530-537 Dynamic Modeling and Controller Design of a Novel Aerial Grasping Robot (Zhongmou Li, Xiaoxiao Song, Vincent Bégoc, Abdelhamid Chriette, Isabelle Fantoni)....Pages 538-546 Dynamically-Feasible Trajectories for a Cable-Suspended Robot Performing Throwing Operations (Deng Lin, Giovanni Mottola, Marco Carricato, Xiaoling Jiang, Qinchuan Li)....Pages 547-555 Determination of the Geometric Parameters of a Parallel-Serial Rehabilitation Robot Based on Clinical Data (Dmitry Malyshev, Santhakumar Mohan, Larisa Rybak, Gagik Rashoyan, Anna Nozdracheva)....Pages 556-566 Optimal Selection of Transmission Ratio and Stiffness for Series-Elastic Actuators with Known Output Load Torque and Motion Trajectories (Guido Bocchieri, Luca Luzi, Nicola Pedrocchi, Vincenzo Parenti Castelli, Rocco Vertechy)....Pages 567-574 Back Matter ....Pages 575-578