Padois, Vincent

Romansy 19 – Robot Design, Dynamics and Control

Padois, Vincent - Romansy 19 – Robot Design, Dynamics and Control, ebook


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Table of contents

I. Parallel Robots Modelling and Analysis

1. Wire-driven Parallel Robot: Open Issues
Jean-Pierre Merlet

2. A New 3-DOF Translational Parallel Manipulator: Kinematics, Dynamics, Workspace Analysis
Pavel Laryushkin, Victor Glazunov

3. On the Accuracy of N-1 Wire-driven Parallel Robots
Jean-Pierre Merlet

4. Clearance, Manufacturing Errors Effects on the Accuracy of the 3-RCC Spherical Parallel Manipulators
A. Chaker, A. Mlika, M. A. Laribi, L. Romdhane, S. Zeghloul

5. Structural Synthesis of the Families of Parallel Manipulators with 3 Degrees of Freedom
J. I. Ibarreche, Oscar Altuzarra, V. Petuya, A. Hernández, C. Pinto

6. Inverse Static Analysis of Massive Parallel Arrays of Three- State Actuators via Artificial Intelligence
Felix Pasila, Rocco Vertechy, Giovanni Berselli, Vincenzo Parenti Castelli

7. On the Addition of Degrees of Freedom to Force-balanced Linkage
V. Wijk, Just L. Herder

II. Parallel Robots Design, Calibration and Control

8. Design Challenges in the Development of Fast Pick-and-place Robots
Jorge Angeles

9. A Low Energy Consumption Solar Tracker Based in Parallel Kinematics
Oscar Altuzarra, Iván Seras, Erik Macho, Jokin Aginaga

10. Calibration of a Fully-Constrained Parallel Cable-Driven Robot
Julien Alexandre Sandretto, David Daney, Marc Gouttefarde

11. Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 1: Theory
Sébastien Briot, Maxime Gautier

12. Global Identification of Drive Gains, Dynamic Parameters of Parallel Robots - Part 2: Case Study
Sébastien Briot, Maxime Gautier

13. On the Conditioning of the Observation Matrix for Dynamic Parameters Identification of Parallel Robots
Miguel Díaz-Rodriguez, Vicente Mata, Angel Valera, Sebastian Provenzano

14. Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation
Sébastien Briot, Vigen Arakelian, Damien Chablat, Philippe Wenger

15. A New Algorithm for Gravity Compensation of a 3-UPU Parallel Manipulator
M. Banitalebi Dehkordi, A. Frisoli, E. Sotgiu, M. Bergamasco

III. Robot Design

16. Portable Posture Guiding System With Visual, Verbal Feedback for Upper Extremity
Wei-Ting Yang, Ke Yeng Tee, I-Ming Chen, Albert Causo, Song Huat Yeo

17. An Innovative Actuation Concept for a New Hybrid Robotic System
Basilio Lenzo, A. Frisoli, Fabio Salsedo, M. Bergamasco

18. Development of 3-Axis Flexure Stage for Bio-Cellular Experimental Apparatus
Daisuke Matsuura, Chia-Hsiang Menq

19. Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color
Tatsuhiro Kishi, Takuya Otani, Nobutsuna Endo, Przemyslaw Kryczka, Kenji Hashimoto, Kei Nakata, Atsuo Takanishi

20. Design of a New Hand Exoskeleton for Rehabilitation of Post- Stroke Patients
Mohammad Mozaffari Foumashi, Marco Troncossi, Vincenzo Parenti Castelli

21. Guidelines for the Design of Multi-finger Haptic Interfaces for the Hand
Florian Gosselin

22. Development of Anthropomorphic Soft Robotic Hand WSH-1RII
Nobutsuna Endo, Takuya Kojima, Keita Endo, Fumiya Iida, Kenji Hashimoto, Atsuo Takanishi

23. Development of Distributed Control System, Modularized Motor Controller for Expressive Robotic Head
Takuya Otani, Tatsuhiro Kishi, Przemyslaw Kryczka, Nobutsuna Endo, Kenji Hashimoto, Atsuo Takanishi

IV. Robot Control

24. Null-Space Impedance Control For Physical Human-Robot Interaction
Luigi Villani, Hamid Sadeghian, Bruno Siciliano

25. Wrench Recovery for Wire-Actuated Parallel Manipulators
Leila Notash

26. Wrench Recovery of Parallel Manipulators for Full Retrieval of Subtasks
Vahid Nazari, Leila Notash

27. Vibration Control of an Industrial Robot with a Flexible Arm Using IDCS
Kengo Aoki, Gentiane Venture, Yasutaka Tagawa

28. Predictive Functional Control System for Stroke Control of a Pneumatic Tendon-driven Balloon Actuator
Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

29. Redundancy Resolution of the Underactuated Manipulator
Ambrus Zelei, László Bencsik, László L. Kovács, Gábor Stépán

30. Dexterous Manipulation Planning for an Anthropomorphic Hand
Jean-Philippe Saut, Anis Sahbani, Jean-Pierre Gazeau, S. Zeghloul, Philippe Bidaud

V. Mobile Robots Design, Modelling and Control

31. Angular Momentum Based Controller for Balancing an Inverted Double Pendulum
Morteza Azad, Roy Featherstone

32. Analysis and Design of Planar Self-Balancing Double- Pendulum Robots
Roy Featherstone

33. Peristaltic Crawling Robot for Use on the Ground and in Plumbing Pipes
Satoshi Tesen, Norihiko Saga, Toshiyuki Satoh, Jun-ya Nagase

34. Off-road Mobile Robot Control: an Adaptive Approach for Accuracy, Integrity
R. Lenain, B. Thuilot, N. Bouton, P. Martinet

35. On-Line Obstacle Avoidance at High Speeds
Zvi Shiller, Sanjeev Sharma

36. Torque Control of a Poly-articulated Mobile Robot During Obstacle Clearance
Pierre Jarrault, Christophe Grand, Philippe Bidaud

37. An Approach to the Dynamics of a Vibration-Driven Robot
Felix Becker, Victor Lysenko, Vladimir Minchenya, Igor Zeidis, Klaus Zimmermann

VI. Humans and Humanoids

38. A new Approach to Muscle Fatigue Evaluation for Push/Pull Task
Ruina Ma, Damien Chablat, Fouad Bennis

39. Calibration of the Human-Body Inertial Parameters Using Inverse Dynamics, LS Technique, Anatomical Values
Gentiane Venture, Maxime Gautier

40. Assessment of Physical Exposure to Musculoskeletal Risks in Collaborative Robotics Using Dynamic Simulation
Pauline Maurice, Yvan Measson, Vincent Padois, Philippe Bidaud

41. Muscle Activity Estimation Based on Inverse Dynamics, Muscle Stress Analysis by Finite Element Method
Kensho Hirasawa, Ko Ayusawa, Yoshihiko Nakamura

42. Healthy Subject Testing with the Robotic Gait Rehabilitation (RGR) Trainer
Maciej Pietrusinski, Iahn Cajigas, Paolo Bonato, Constantinos Mavroidis

VII. Perception

43. The ROBOSKIN Project: Challenges and Results
Aude Billard, Annalisa Bonfiglio, Giorgio Cannata, Piero Cosseddu, Torbjorn Dahl, Kerstin Dautenhahn, Fulvio Mastrogiovanni, Giorgio Metta, Lorenzo Natale, Ben Robins, Lucia Seminara, Maurizio Valle

44. Modeling Verticality Estimation During Locomotion
Ildar Farkhatdinov, Hannah Michalska, Alain Berthoz, Vincent Hayward

45. The Whole-Arm Exploration of Harsh Environments
Francesco Mazzini, Steven Dubowsky

46. BIM Based Indoor Navigation System of Hermes Mobile Robot
Barbara Siemiątkowska, Bogdan Harasymowicz-Boggio, Maciej Przybylski, Monika Różańska-Walczuk, Mateusz Wiśniowski, Michał Kowalski

47. Overload Protection Mechanism for 6-axis Force/Torque Sensor
Kenji Hashimoto, Teppei Asano, Yuki Yoshimura, Yusuke Sugahara, Hun-Ok Lim, Atsuo Takanishi

Keywords: Engineering, Control, Robotics, Mechatronics, Vibration, Dynamical Systems, Control

Publication year
CISM International Centre for Mechanical Sciences
Page amount
1 pages
Technology, Energy, Traffic

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