Romansy 14: Theory and Practice of Robots and Manipulators Proceedings of the Fourteenth Cism-Iftomm Symposium

ISBN-13: 9783211836910 / Angielski / Twarda / 2003 / 567 str.

Jean-Claude Guinot; Cezary Rzymkowski; Giovanni Bianchi

Opis

Mechanics, Motion Control, Sensing and Programming, Synthesis and Design, Legged Locomotion and Biomechanical Aspects of Robots and Manipulators world view of the state of the art. Characterization: This volume presents the latest contribution to the theory and practice of modern robotics given by the world recognized scientists from Australia, Canada, Europe, Japan, Mexico, Singapore and USA."

Spis treści

Preface.- Adam Morecki Memorial Session: In Memory of Professor Adam Morecki.- Keynote Lectures: Virtual Prototyping of the Combined Wheeled and Legged Robot ALDURO; From Industrial to Service Robots, an Important Paradigm Shift; Humanoid Robotics: New Trend in Robot Research and Industry in Japan.- Mechanics: Contributions to the Modelling of Human Joints; Mathematical Characterization of the Workspace of a 6-DOF Parallel Robot for Reverse Engineering; Geometric Errors Versus Calibration in Manipulators with Less that 6 DOF; Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism; Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom; Neighboring Special Configurations of Parallel Manipulators; Dynamic Equations of Parallel Robots in Minimal DIimensional Parameter-Linear Form; Pose, Posture, Formation and Contortion in Kinematic Systems; Mises Derivatives of Motors and Motor Tnesors.- Motion Control: Control of the Omnidirectional Mobile Robot MARGe; Admittance Model Hptic Interaction for Large Workspace Teleoperation; A Self-tuning Fuzzy Robotic Force Controller; Configuration Control of a Flexible Micro Robotic Arm for Catheter-type Microrobot; Design of a PID Controller for a Flexible Five-Bar Closed-Chain Planar Manipulator; Manipulation of Micro-objects using Adhesion Forces and Dynamical Effects in Unconstrained Environment; Trajectory Tracking for Robot Manipulator Using Generalized Velocity Components; Advanced Control of Robot Compliance Tasks Using Hybrid Intelligent Paradigms; Digital Force Control in Rehabilitation Robotics; Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation; Computer Control of a Robot for Realization of a Smooth Motion; Dynamic Emulation of Space Robot in One-g Environment using Hardware-in-the-Loop Simulation; Path Planning Algorithm Among Obstacles by Considering a Maipulability Index; Adaptive Excitation of a Spring Motion of an Object Across Plane Obstacles; How to Apply Hybrid Position/Force Control to Robots Interacting with Dynamic Environment.- Sensing and Programming: A Catadioptric System for 3D Optical Measurements; Integration Policy for Critical Multi-layered Distributed Robotics Applications; A New Single Frame Pose Estimation Device for Robotics: Theory and Simulation Results; The Highest End 3D Transmission System for the Remote Control; Motion Generators in MRROC++ Based Robot Controllers.- Synthesis and Design: Development of an Antropomorphic Talking Robot to Mechanically Produce Human Voices; Evolutionary Pptimization of Mechanical and Control Design Application to Active Enoscopes; Experimental Validation and Tests of Operation Characteristics of a Parallel-Serial Manipulator; Design and Experimentation of Shape Memory Alloy Wire Bundle Actuators; 3-DOF Planar Positioning-Prientation Mechanisms with Links and Large-Deflective Hinges; A Family of Novel Orientational 3-DOF Parallel Robots; Integrated Design and Analysis of a Novel Schönflies-Motion Generator; Telerobotic Device for Roadway Debris Vacuuming; ROBIAN Hip Joint: Analysis, Design and Simulation; Design of Linear Delta Robot: Compromise Between Manipulability and Workspace Size; On the Dimensional Synthesis of Spatial Four- and Five-Bar Linkage.- Legged Locomotion: On the Turn of Walking Machines with Moving Propellers Made on the Basis of Cycled Mechanisms; Gait Generation and Mechatronic Design of Planar Walker; Design and Realization of Jogging Johnnie; Four DOF TORSO Dynamic Effects on Biped Walking Gait; Inverse Dynamics Power Saving Control of Walking Machines; Stabilization Walking Control for Human-like Biped Robots; The Significance of Leg Mass in Modeling Quadrupedal Running Gaits; Using the Head to Stabilize a Quadrupedal Walker; Analysis of Quadruped LAVA Features: Speed, Energy Efficiency and Selected Motion Abilities; Mathematical Model of Worm-like Motion Systems with Finite and Infinite Degree of Freedom.- Biomechanical Aspects: Human-like Head Robot WE-3RV for Emotional Human-Robot Interaction; Force and Position Control of a SMA Actuated Endoscope; Human Symbiotic Humanoid Robot with Whole-body Compliance; Patient Simulator for Mouth Opening and Closing Training.- Appendix A: Programme and Organizing Committee.- Appendix B: List of Participants