Romansy 14

1. Front Matter

   Pages II-XXI

   PDF

2. Keynote Lectures

   1. Front Matter

      Pages 1-1

      PDF

   2. Virtual Prototyping of the Combined Wheeled and Legged Robot ALDURO

      • Manfred Hiller

      Pages 3-3

   3. From Industrial to Service Robots, an Important Paradigm Shift

      • Hendrik Van Brussel

      Pages 5-6

   4. Humanoid Robotics: New Trend in Robot Research and Industry in Japan

      • Atsuo Takanishi

      Pages 7-8

3. Mechanics

   1. Front Matter

      Pages 9-9

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   2. Contributions to the Modelling of Human Joints

      • Comel Brisan, Manfred Hiller

      Pages 11-20

   3. Mathematical Characterization of the Workspace of a 6-DOF Parallel Robot for Reverse Engineering

      • Eduardo Castillo-Castañeda, Alejandra Sánchez-Flores, Carlós Lopez-Cajún

      Pages 21-30

   4. Geometric Errors Versus Calibration in Manipulators with Less than 6 DOF

      • Raffaele Di Gregorio, Vincenzo Parenti-Castelli

      Pages 31-38

   5. Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism

      • Antonio Frisoli, Massimo Bergamasco

      Pages 39-48

   6. Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom

      • Thomas Geike, John Mcphee

      Pages 49-58

   7. Neighboring Special Configurations of Parallel Manipulators

      • Victor Glazunov, Alexander Kraynev, Gaguik Rashoyan, Ruslan Bykov, Natalia Novikova

      Pages 59-66

   8. Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter-Linear Form

      • Martin Grotjahn, Johannes Kühn, Bodo Heimann, Heiko Grendel

      Pages 67-76

   9. Pose, Posture, Formation and Contortion in Kinematic Systems

      • J. Rooney, T. K. Tanev

      Pages 77-86

   10. Mises Derivatives of Motors and Motor Tensors

       • Karl Wohlhart

       Pages 87-98

4. Motion Control

   1. Front Matter

      Pages 99-99

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   2. Control of the Omnidirectional Mobile Robot MARGe

      • Houssem Abdellatif, Dirk Weidemann, Arne Michaelsen, Martin Grotjahn, Bodo Heimann

      Pages 101-108

   3. Admittance Model Haptic Interaction for Large Workspace Teleoperation

      • Fabio Antoniazzi, Paolo Gallina, Alessandro Gasparetto, Giulio Rosati

      Pages 109-118

   4. A Self-tuning Fuzzy Robotic Force Controller

      • Robert Bicker, Zhongxu Hu, Kevin Burn

      Pages 119-126

   5. Configuration Control of a Flexible Micro Robotic Arm for Catheter-type Microrobot

      • Jérôme Forêt, Saliha Boudjabbi, Antoine Ferreira, Michel De Mathelin

      Pages 127-139

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.

• Anthropomorhic robot
• Delta robot
• Hamiltonian formulation
• MARGe
• MRROC++
• Mises dervatives
• calibration
• endoscopes
• force control
• fuzzy robotic force controller
• humanoid robot
• hybrid position
• inverse dynamics
• mechatronics
• micro robotic arm
• modelling of human joints
• obstacle avoidance
• parallel mechanism
• parallel robot
• parallel-serial manipulator
• position control
• quadrupedal walker
• rehabilitation robotics
• remote control
• control
• degrees of freedom
• design
• dynamics
• mechanics
• mechanism
• programming
• robot
• robotics
• sensing
• simulation

• Polytechnic of Milan, Italy

  Giovanni Bianchi

• Universite Pierre et Marie Curie, Paris, France

  Jean-Claude Guinot

• Warsaw University of Technology, Poland

  Cezary Rzymkowski

Policies and ethics