ROMANSY 18 - Robot Design, Dynamics and Control - Proceedings of the Eighteenth CISM-IFToMM Symposium

Title Page

Copyright Page

PREFACE

Table of Contents

Keynote Lectures

Where Future Robots should Go and should not Go

1 Introduction

2 The Special Skill for Human and Robot

3 A Collaboration Style between Robots and Human

4 A Success Example in Robot Business

5 Where Future Robots should Go and should not Go

6 Concluding Remarks

Bibliography

Robust Drives for Parallel Robots

1 Introduction

2 Alternative Designs of the Tilt Generator

3 The Tilt-generating Spherical Linkage

4 The Kinnematics of the Two-dof Drive

5 The Tilt-generating Quasispherical Linkage

6 Conclusions

7 Acknowledgements

Bibliography

MInimal-Form Multibody Dynamiccs for Embed Multidisciplinary Applications

1 Introduction

2 Object-Oriented Modelling

3 Symbolical Code Generation

4 Application Examples

5 Conclusions and Acknowledgements

Bibliography

Chapter I Novel Robot Design and Robot Modules/Components

Constructive Redesign of a Modular Metamorphic Microgripper

1 Introduction

2 The MorphoGrip Architecture

3 Experimental Results

4 Constructive Re-Design of the Finger Module

5 Conclusions

References

A One-Motor Full-Mobility 6-PUS Manipulator

1 Introduction

2 Manipulator Architecture and Operation

3 Kinetostatics and Constraints on the Path

4 Conclusions

References

Dynamic Hybrid Position/Force Control for Parallel Robot Manipulators

1 Introduction

2 Dynamic Modeling of Parallel Manipulator

3 Hybrid Position/Force Control Method

4 Experiments

4.1 Experimental Setup

4.2 Approaching and Contacting a Stiff Wall

4.3 Trajectory Tracking in Unconstrained Environment

4.4 Trajectory Tracking in Constrained Environment

5 Conclusions

Bibliography

Decoupled Parallel Manipulator with Universal Joints and Additional Constraints

1 Introduction

2 The kinematic chains with universal joints and additional constraints and 4-DOF mechanisms

3 The design of 6-DOF decoupled parallel mechanism

4 Conclusion

References

Positio: A 4R Serial Manipulator Having a Surface of Isotropic Positioning

1 Introduction

2 Kinematic Model

3 Isotropic Conditions and Associated Surface

3.1 Positioning Tasks

3.2 Orienting Tasks

3.3 Positioning and orienting Tasks

4 Conclusions

Bibliography

Joint space and workspace analysis of a two-DOF closed-chain manipulator

1 INTRODUCTION

2 ALGORITHM

2.1 Definition of the quadtree/ictree model

2.2 Notion of aspect for fully parallel manipulators

2.3 Introduction to ALIAS library

2.4 A first basicc tool: Box verification

2.5 A second basic tool: Quadtree model definition

3 MECHANISM UNDER STUDY

3.1 Kinematic Relations

3.2 Direct kinematic problem

3.3 Selection of the assembly mode

3.4 Inverse kinematic problem

3.5 Selection of the working mode

3.6 Computation of the generalized aspects

3.7 Comparison between classical quadtree computation and the new algorithm

4 CONCLUSIONS AND FUTURE WORKS

REFERENCES

Identification of Base Parameters for Large-scale Kinematic Chains Based on Polyhedral Convex Cones

1 Introduction

2 Identification methods developed for manipulators

3 Identification for legged systems comsidering physical consistency and computational stability

4 Experimental results

5 Conclusion

Bibliography

Modeling Effects on Free Vibration of a Two-Link Flexible Manipulator

1 Introduction

2 Manipulator models

3 Simulations and discussion

4 Concluding remarks

References

Chatter Suppression in Sliding Moke Control: Strategies and Tuning Methods

1 Introduction

2 Chatter Suppression Strategies

2.1 Continuous Approximation Strategies

2.2 HIgher Order Sliding Model

3 Oerformance Estimation

3.1 Stability

3.2 Harmonic linearization

4 Example

5 Conclusion

References

On Solving the Forward Kinematics of the 6-6 General Parallel Manipulator with an Efficient Evolutionary Algorithm

1 Introduction

2 The Forward Kinematics Problem Formulation

3 Solving with genetic algorithms

3.1 Hybridization of genetic algorithms

3.2 G3-PCX genetic algorithm

4 Results and Analysis

4.1 Configuration for the FKP pf 6-6 general Parallel Manipula- tor

4.2 Experimental Set-up

4.3 Results

4.4 Discussion

5 Conclusion

Bibliography

Determination of Mobility in a Kinematic Chain by Properly Using the Jacobian Matrix.

1 Introduction.

2 Representations of the Euclidean Group.

3 The Lie Product and the Adjoint Representation.

4 Serially Connected Kinematic Chains.

5 Conclusions.

Bibliography

Micro Hinges and their Application to Micro Robot Mechanisms

1. Introduction

2. Micro Motion Convert Mechanism made by FAB Machine

3. Palmtop Surface Mount System for Micro Devices by Use of a Pantograph Mechanism with Large-Deflective Hinges

4. Fatigue Tests of an Molding Pantograph Mechanism with Large Deflective Hinges

5. Experimental Method of the Fatigue Test of One Hinge Model

6. Conclusions

References

Parallel RPR- -RPR Manipulator Generating 2-DOF Translation along One-Sheet Revolute Hyperboloid

1. Introduction

2. Single-Closed Loop Chains with 2-DoFs

3. Parallel Manipulator Generating 2-DoF Translation along a Ruled Hyperboloid

4. Derivation of Delassus RPRP Paradoxical Chain

5. Conclusion

References

A Study on the Effects of Cable Mass and Elasticity in Cable-Based Parallel Manipulators

1 Introduction

2 Cable Modeling for Cable-Based Manipulators

2.1 Mass Less Inextensible Cable Model

2.2 Elastic Mass Less Cable Model

2.3 Continuous Cable Model with Mass and Elasticity

2.4 Lumped Mass and Elastic Cable Model

3 Case of Study: Planar 2 Cables Point-Mass Robot

3.1 Simulation Results

3.2 Experimental Characterization

Conclusions

Bibliography

Chapter II Service, Education, Medical, Space, Welfare and Rescue Robots

Motion Planning of the Trident Snake Robot: An Endogenous Configuration Space Approach

1 Introduction

2 Problem Formulation

3 Motion Planning

4 Computer Simulations

5 Conclusion

Bibliography

A Novel Stair-Climbing Wheelchair with Variable Configuration Four-Bar Linkage -Mechanism Design and Kinematics-

1 Introduction

2 Design and Principle of Operation

3 Kinematics

4 Conclusions and Future Work

Bybliography

Motion and Force measures on tortoises to design and control a biomimetic quadruped robot

1 Introduction

2 Experiments on animals

2.1 Experiments in Vivo

2.2 Experiments in Vitro

3 TATOR II Model

4 Conclusion

Bibliography

Mechanism Design Improvements of the Airway Man-agementTraining System WKA-3

1 Introduction

2 Design of the WKA-3

2.1 Wire Drive Unit

2.2 Mandible

2.3 Tongue

3 Force and Position Control of the WKA-3

4 Experimental results

5 Conclusions & Future Work

Bibliography

Design for a Dual-Arm Space Robot

1 Introduction

2 Description of Robot System

3 Mechanism of Dual-Arm Space Robot

3.1 Mechanism of the Head

3.2 Mechanism of the Arm

3.3 Mechanism of the Hand

3.4 Design of High-Cohesion Integrative Joint

4 Vision-Based Climbing Plan

4.1 Vision Processing System

4.2 Climbing Trajectory Plan

4.3 Force Control of Hand

5 Experiment

6 Conclusion

Bbibliography

Mechanical Design of a Novel Biped Climbing and Walking Robot

1 Introduction

2 The 2 (3-RPS) Leg Mechanism

3 The 3-RPS Parallel Mechanism: Kinematic Synthesis

4 The 3-RPS Parallel Mechanism: Workspace Analysis

Conclusions

Bibliography

Chapter III Humanoid Robots, Bio-Robotics, Multi-Robot, Multi-Agent Systems

Development of the Anthropomorphic Waseda Saxophonist Robot

1 Introduction

2 Waseda Saxophonist Robot No.2 (WAS-2)

2.1 Mechanical System

2.2 Control System

2.3 Experiments and Results

2.4 Conclusion and Future Work

Bibliography

Design and Simulation of a Waist-Trunk System for a Humanoid Robot

1 Introduction

2 Human Torso and Proposed Waist-Trunk System

3 An Inverse Kinematics Studdy

4 Simulation results

5 Conclusions

Bibliography

Safe Navigation in Dynamic Environments

1 Introduction

2 The Velocity Obstacle

3 Time Horizon

4 The Planner

5 Examples

6 Conclusion

Bibliography

Development of a Visual Interface for Sound Parameter Calibration of the Waseda Flutist Robot WF-4RIV

1 Introduction

2 Waseda Flutist Robot No.4 Refined IV

3 Instrument Position Mapping

4 Experiments and Results

5 Conclusion and Future Works

Bibliography

Simulation of a Humanoid Robot walking gait on Moon Surface

1. Introduction

2. Walking Behavior on Moon Gravity

2.1. Human body modeling

2.2. Froude number

3. Control Method of the Robot

4. Simulation Result of Walking Motion

5. Conclusion & Future Work

References

Development of New Biped Foot Mechanism Mimicking Human’s Foot Arch Structure

1 Introduction

2 Development of Human-like Foot Mechanism

2.1. Modeling of Human’s Foot Arch Structure

2.2. Human-like Foot Mechanism Design

3 Experimental Tests and Consideration

3.1. Verification of Walking with Human-like Foot Mechanism

3.2. Consideration of Function of Foot Arch Structure

4 Conclusions and Future Work

Bibliography

Design and Development of Bio-mimetic Quadruped Robot

Introduction

Analysis of Rat’s Motion and Proportion

Hardware Design

Control of WR-2

Performance Verification

Summary and Future works

References

Static and Dynamic Maneuvers With a Tendon-Coupled Biped Robot

1 Introduction

1.1 Motivation

1.2 Prior Work

2 Design

2.1 Mechanical Design

2.2 Electrical Design

3 Control Results

3.1 Balancing

3.2 Stepping

3.3 Hopping

3.4 Running

4 Discussion

5 Conclusion

Bibliography

Chapter IV Control, Modelling, and Analysis of Robotic Systems

Kinematic Calibration of Small Robotic Work Spaces Using Fringe Projection

1 Introduction

2 Methods for the Modeling of the Kinematics

2.1 Conventional Modeling

2.2 Kinematic Modeling with respect to Polynomial Functions

3 Identification of the Kinematics

3.1 Calibration Functional

3.2 Experimental Setup

4 Determination of the Kinematics

5 Validation of the Determined Kinematic Functions

6 Conclusion

Bibliography

Forward Dynamics of 3-DOF Parallel Robots: a Comparison Among Different Models

1 Introduction

2 Forwar Dynamics in Terms of Identified Dynamic Parameters

2.1 Mass Matrix

2.2 Vector of Velocity components

2.3 Vector of Gravity ccomponents

3 Case Studies

4 Results

5 Conclusions

Bibliography

Workspace Generation of Planar Wire-Actuated Parallel Manipulators with Antipodal Method

1 Introduction

2 Theory

3 Simulation

4 Conclusion

References

Trajectory Following and Vibration Control for Flexible-link Manipulators

1 Introduction

2 Model-based Predictive Control

3 Dynamic model

4 Control System

5 Simulation results: trajectory tracking

6 Conclusion

Bibliography

Shaking Forces Minimization of High-Speed Robots via an Optimal Motion Planning

1 Introduction

2 Minimization of the Shaking Forces via an Optimal Motion Planning of the Total Mass Centre of Moving Links

3 Illustrative Example

4 Conclusions

References

Passivity Based Backstepping Control of an Elastic Robot

1 Overview

2 Mathematical Model

3 Controller Design

4 Experimental Results

5 Conclusion

Bibiography

Economical Control of Robot Systems Using Potential Energy

1 Introduction

2 Optimal Control of Robot Systems

3 Linear Analysis of Optimal Solution

3.1 Linearization of the Equations of Motion

3.2 Analysis Using Optimal Control Theory

3.3 Comparison with Simulation Results

4 Optimal Design Method

4.1 Optimal Operating Time

4.2 Optimal Design of Springs

4.3 Application Example

5 Conclusion

Bibliography

Motion Control of an Under-Actuated Service Robot Using Natural Coordinates

1 Introduction

2 Mechanical Model and Problem Formulation

3 Computed Torque Control

4 Real parameter case study and simulation

5 Conclusion

Bibliography

Control Law Synthesis for Slip Reduction of Wheeled Robot

1 Introduction

2 Slip Avoidance

3 Traction Force During the Slip

4 Slip Reduction

5 Conclusion

Bibliography

A Kinematic Model of the Tibio-Talar Joint Using a Minimum Energy Principle

1 Introduction

2 Materials and Methods

2.1 Data Acquisition

2.2 Bone Modeling

2.3 Trajectory Generation

3 A Measure of Joint Congruence

4 Result and Discussion

5 Algorithm Sensitivity

6 Conclusion

Bibliography

Chapter V Innovations in Sensor Systems for Robots and Perception

Development of the Ultrasound Probe Holding Robot WTA-1RII and an Automated Scanning Algorithm based on Ultrasound Image Feedback

1 Introduction

2 Development of the Probe Holding Robot WTA-1RII

3 Automated Scanning Method

3.1 Image processing

3.2 Probe Path Planning

4 Experiments and Results

4.1 Manipulator Positioning Accuracy

4.2 Automated Scanning

5 Conclusion and Future Work

Bibliography

RFID-Assisted Detection and Handling of Packages

1 Introduction

2 State of the art

3 Experimental Setup

4 RFID Localization

5 Package localization and handling

5.1 Selection of the Gripper

5.2 Handling Process

6 Conclusions

References

Virtual Haptic Map Using Haptic Disply Technology for Visually Impaired

1 Introduction

2 Virtual Haptic Map

3 EXPERIMENT

4 Mobile Robot System with Virtual Haptic Map

5 CONCLUSION

Bibliography

EXTRACTION OF SEMANTIC INFORMATION FROM THE 3D LASTER RANGE FINDER

1 Introduction

2 Data Acquisition

3 Texture-based object detection

4 Haar-like features

Conclusions

Bibliography

THE APPLICATION OF ICP AND SIFT ALGORITHMS FOR MOBILE ROBOT LOCALIZATION

1 Introduction

2 Hardware

3 SIFT-ICP Algorithm

3.1 SIFT Algorithm

3.2 ICP Algorithm

3.3 SIFT algorithm in ICP

4 Experiments

5 Conclusions

Bibliography

Estimation of Complex Anatomical Joint Motions Using a Spatial Goniometer

1 Introduction

2 Estimation of the Anatomical Joint Screw Axis

2.1 Approach Using the Velocities of Points

2.2 Approach by Loop Closure

3 Application to a Goniometer for The Knee Joint

3.1 System description

3.2 Simulation results

Conclusion

Bibliography

Chapter VI Recent Advances in Robotics

Modeling and Motion Planning for a Population of Mobile Robots

1 Introduction

2 Modeling for a Population of Mobile Robots

2.1 Basic Particle Swarm Optimization

2.2 Build Mechanical Model for Practical Use in a Population of Mobile Robots

3 Design a Control Scheme for a ROBOTINO

3.1 Constraint Handling

3.2 Control Scheme

4 Simulation and Results

5 Conclusion and Future Work

Bibliography

Reconfigurable Planar Three-Legged Parallel Manipulators

1 Introduction

2 The Forward And Inverse Kinematics Problem

3 Workspace Boundary Visualization

4 Example

5 Conclusions

Bibliography

Multi-Objective Trajectory Planning in Wire-Actuated Parallel Manipulators

1. Introduction

2. Modelling

3. Collision Detection

4. Trajectory Planning and Impact Reduction

5. Simulation

6. Discussion and Conclusions

References

Design of the Facial Expression Mechanism for Humanoid Robots

1 Introduction

2 Architecture of the Humanoid Robot Prototype

3 Robot Face Design

3.1 Design Methodology

3.2 Data Acquisition

3.3 Active Drive Points

4 Experiment Results

4.1 Robotic Face Testing

4.2 Testing the Mobility of the Humanoid Robot

5 Conclusion

Bibliography

A Method for Comparing Human Postures From Motion Capture Data

1 Introduction

2 Instrument and Data Format

3 Posture Comparison Method

3.1 Comparison of Frames

3.2 Plummet Method for Root-Fame Comparison

3.3 Total Score and Proportion

4 Experiments and Results

5 Conclusions and Future Works

Bibliography

Evaluation of the KOBIAN and HABIAN Emotion Expression Humanoid Robots with European Elderly People1

1. Introduction

2. Materials and Methods

A. Wheeled-type emotion expression humanoid robot HABIAN

B. Creation of the new emotional patterns

C. Human actor

3. Experimental evaluation

A. Evaluation of the Emotion Recognition Ratio

B. Evaluation of the robot impression

C. Free comments

4. Conclusions

References

An Approach to the Dynamics and Kinematical Control of Mtion Systems Consisting of a Chain of Bodies

1 Introduction

2 Equations of Motion

3 Smooth Control

4 Dry (Discontinuous) Friction

5 Conclustions

Bibliography

Modular Design of Emotion Expression Humanoid Robot KOBIAN

Introduction

Design

Discussion

Conclusion and Future Works

References

A Random-Profile Approach for Trajectory Planning of Wheeled Mobile Robots With non-Slipping Constraint

1. Introduction

2. Description of the problem

3. Proposed method

3.1. Overview of the basic RPA scheme

3.2. Treatment of the non-slipping constraint

4. Numerical example

5. Conclusion

6. References

The Second Type of Singularity Analysis of the New Parallel Manipulator with 6 Degree-of-Freedom

Introduction

Geometry of the PM with 6 DOF

Singularity Analysis of the PM With 6 DOF

Conclusion

References

Author Index