Romansy 16

by Zielinska, Teresa; Zielinski, Cezary

• ISBN13: 9783211360644
• ISBN10: 3211360646
• Format: Hardcover
• Copyright: 2006-08-15
• Publisher: Springer Nature

Summary

The book devotes itself to novel robots, humanoid and bio-robotic problems, challenges in control and motion synthesis, the kinematical and dynamical analysis of robotic systems, perception problems, space robots, and other promising innovative mechanisms and technologies. The authors deal with the problems involved in the coexistence of humans and personal robots providing assistance to people doing housework, or to the elderly and the handicapped, as well as the robots working with or without human help during space missions. To effectively work and cooperate with us, robots must exhibit abilities that are comparable to those of humans. The book describes the ongoing efforts to design and develop human-friendly robotic systems that can safely and effectively interact and work with humans. Man's determination to explore outer space has stimulated the progress being made in robotics, for it has involved specific requirements, limitations and new targets for the designers. The aim of this publication is to present the research results in robotics that are now state of the art, and to indicate the possible future lines of development.

Author Biography

Teresa Zielinska, Cesary Zielinski, both: Warsaw University of Technology

Table of Contents

Preface	p. v
Keynote Lectures
Humanoid Robotics, Culture and Society of Japan	p. 3
The Human Frontier: Robotics New Quest and Challenge	p. 5
Standardization: A Logical Step in Sustained Space Exploration	p. 7
Robot design
Design and Singularity Criteria of Parallel Manipulators	p. 15
L-legs for the Design of Mini and Micro Parallel Compliant Mechanisms	p. 23
A Singularity free parallel robotic mechanism for aiming antennas and cameras	p. 31
Virtual Prototyping of a New Parallel Manipulator for Milling	p. 39
A New Approach for the evaluation of kinematic and static performances of a family of 3-UPU translational manipulators	p. 47
Geometric Configuration in Robot Kinematic Design	p. 55
Mechanism Performance
Improvement of Positioning Accuracy of PAMINSA (Parallel Manipulator of the I.N.S.A.)	p. 65
The Impact of Friction on the Dynamics of Parallel Robotic Manipulators	p. 73
Dynamics Aspects of Parallel Anthropomorphic Robots	p. 81
Workspace Comparison of Kinematically Redundant Planar Parallel Manipulators	p. 89
Dexterity Analysis of Planar Parallel Manipulators	p. 97
Stiffness experimental monitoring for WL-16RII Biped Locomotor during walking	p. 105
Estimation of Leg Stiffness Parameters of a 6DOF Parallel Mechanism	p. 113
Invariant Error Dynamics Controller for a 6DOF Electrohydraulic Stewart Platform	p. 121
Motion Planning and Synthesis
Hyperbolic-linear, Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators	p. 131
Local Variation Method to Determine Cheap Path for Nonholonomic Systems	p. 139
Nonlinearity detection and reduction based on unnormalized quasi-velocities	p. 147
Motion Planning for Collision Avoidance via Cylindrical Models of Rigid Bodies	p. 155
On the Dynamic Stability of Off-Road Vehicles	p. 163
Sub-Optimal Motion Planner of Mobile Manipulators in Generalized Point-to-Point Task With Stability Constraint	p. 171
A Decoupled Approach to Optimal Time Energy Trajectory Planning of Parallel Kinematic Machines	p. 179
Reliable and Adjustable Biped Gait Generation for Slopes Using a GA Optimized Fourier Series Formulation	p. 187
A Simplified Method for Generating 3D Gait Using Optimal Sagittal Gait	p. 195
Control Methods and Systems
The Largest Feedback-Linearizable Subsystem of a Class of Wheeled Robots Moving on an Inclined Plane	p. 205
Leg Thrust Control for Stabilization of Dynamic Gaits in a Quadruped Robot	p. 213
Vehicle Dynamics of Redundant Mobile Robots with Powered Caster Wheels	p. 221
Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers	p. 229
Control Architecture for Sensor-Based Two-Handed Manipulation	p. 237
Humanoids
The mechanical improvements of the anthropomorphic flutist robot WF-4RII to increase the sound clarity and to enhance the interactivity with humans	p. 247
Mechanical Design of Emotion Expression Humanoid Robot WE-4RII	p. 255
The Mechatronic Design of a Human-like Robot Head	p. 263
Human Equilibrium Control Principles Implemented into a Biped Humanoid Robot	p. 271
Development of a New Humanoid Robot to Realize Various Walking Pattern Using Waist Motions	p. 279
From the Human Hand to a Humanoid Hand: Biologically-Inspired Approach for the Development of RoboCasa Hand #1	p. 287
Biology and Robotics - Specialized Tools and Methods
Towards Realistic Surgical Simulation: Biomechanics of Needle Insertion into Brain	p. 297
Robotic System for Femoral & Tibial Osteotomies Assistance	p. 305
WL-16RII: Prototype of Biped Walking Wheelchair	p. 313
Prosthesis Design by Robotic Approaches Part 1: Metabolical Cost	p. 321
Prosthesis Design by Robotic Approaches Part 2: Optimization Approach	p. 329
Innovative technologies in robotics
Sound Source Detection System for Control of an Autonomous Mobile Robot, a Behaviour-Based Approach	p. 339
Development and Control of Wheeled Vehicle that Balances on a Rolling Basketball	p. 347
Durability of Large-Deflective Hinges made of Blend Polypropylene used for Molded Pantograph Mechanisms	p. 355
Mobile Robots Based on Magnetizable Elastic Elements and Ferrofluids	p. 363
A Flexure-Based Electromagnetic Linear Actuator for Nano-Positioning	p. 371
An Infrared Location System for Relative Pose Estimation of Robots	p. 379
Design and Control of the Ball Wheel Drive Mechanism for a Robust Omnidirectional Wheeled Mobile Platform	p. 387
Space Robotics
Results and Verification of Spacecraft Docking Emulation using Hardware-in-the-Loop Simulation	p. 397
On Dynamic Analysis and Control of a Novel Orbital Debris Disposer	p. 405
Trajectory Generation for Satellite Capture Using a Redundant Manipulator	p. 413
Innovative methods of evaluation in space robotics and surgical robotics design	p. 421
Vision and navigation
Visual Target Detection in Unstructured Environments - A Novel Technique for Robotic Navigation	p. 431
Hand image interpretation based on double active contour tracking	p. 439
Mobile robot localization using laser range scanner and omnicamera	p. 447
Navigation of an Autonomous Ground Vehicle - Gate Recognition and Crossing	p. 455
Table of Contents provided by Ingram. All Rights Reserved.