Romansy 16 : robot design, dynamics, and control

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Romansy 16 : robot design, dynamics, and control / edited by Teresa Zielińska, Cezary Zieliński

資料種別:

図書

出版情報:

Wien : Springer, c2006

形態:

x, 462 p. ; 25 cm

シリーズ名:

CISM courses and lectures ; no. 487 <BA00257168>

著者名:

ISBN:

9783211360644 [3211360646]

書誌ID:

BA78507864

子書誌情報

フルテキスト

所蔵情報

他の版・巻

書誌詳細

注記:

Includes bibliographies

言語:

英語

目次情報:

Preface

Keynote Lectures

Humanoid Robotics, Culture and Society of Japan / A. Takanishi

The Human Frontier: Robotics New Quest and Challenge / O. Khatib

Standardization: A Logical Step in Sustained Space Exploration / A. Bradley

Robot design / Chapter I：

Design and Singularity Criteria of Parallel Manipulators / V. Glazunov ; A. Krayev

L-legs for the Design of Mini and Micro Parallel Compliant Mechanisms / M. Zoppi ; R. Molfino

A Singularity free parallel robotic mechanism for aiming antennas and cameras / R. Dunlop ; M. Schlotter ; P. Hagedom ; T. Jones

Virtual Prototyping of a New Parallel Manipulator for Milling / M. Petko ; G. Karpiel ; D. Prusak ; T. Uhl

A New Approach for the evaluation of kinematic and static performances of a family of 3-UPU translational manipulators / R. Georgio ; V. Parenti-Castelli

Geometric Configuration in Robot Kinematic Design / J. Rooney

Mechanism Performance / Chapter II：

Improvement of Positioning Accuracy of PAMINSA (Parallel Manipulator of the I.N.S.A.) / V. Arakelian ; S. Briot

The Impact of Friction on the Dynamics of Parallel Robotic Manipulators / H. Abdellatif ; B. Heimann ; M. Grotjahn

Dynamics Aspects of Parallel Anthropomorphic Robots / C. Brisan ; M. Hiller

Workspace Comparison of Kinematically Redundant Planar Parallel Manipulators / I. Ebrahimi ; J.A. Carretero ; R. Boudreau

Dexterity Analysis of Planar Parallel Manipulators / G. Pond

Stiffness experimental monitoring for WL-16RII Biped Locomotor during walking / G. Carbone ; M. Ceccarelli ; Y. Sugahara ; H.O. Lim

Estimation of Leg Stiffness Parameters of a 6DOF Parallel Mechanism / J. Knapczyk ; M. Maniowski

Invariant Error Dynamics Controller for a 6DOF Electrohydraulic Stewart Platform / I. Davliakos ; E. Papadopoulos

Motion Planning and Synthesis / Chapter III：

Hyperbolic-linear, Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators / K. Tchon ; J. Jakubiak

Local Variation Method to Determine Cheap Path for Nonholonomic Systems / I. Duleba ; P. Ludwikow

Nonlinearity detection and reduction based on unnormalized quasi-velocities / P. Herman ; K. Kozlowski

Motion Planning for Collision Avoidance via Cylindrical Models of Rigid Bodies / M. Larochelle ; J.S. Ketchel

On the Dynamic Stability of Off-Road Vehicles / M.P. Mann ; Z. Shiller

Sub-Optimal Motion Planner of Mobile Manipulators in Generalized Point-to-Point Task With Stability Constraint / M. Haddad ; T. Chettibi ; T. Saidouni ; S. Hanchi ; H.E. Lehtihet

A Decoupled Approach to Optimal Time Energy Trajectory Planning of Parallel Kinematic Machines / A. Khoukhi ; L. Baron ; M. Balazinski

Reliable and Adjustable Biped Gait Generation for Slopes Using a GA Optimized Fourier Series Formulation / L. Yang ; C. Meng Chew ; T. Zielinska ; A. Neow Poo

A Simplified Method for Generating 3D Gait Using Optimal Sagittal Gait / G. Bessonnet

Control Methods and Systems / Chapter IV：

The Largest Feedback-Linearizable Subsystem of a Class of Wheeled Robots Moving on an Inclined Plane / D.S. Nasrallah ; J. Angeles ; H. Michalska

Leg Thrust Control for Stabilization of Dynamic Gaits in a Quadruped Robot / J. Estremera ; K.J. Waldron

Vehicle Dynamics of Redundant Mobile Robots with Powered Caster Wheels / Y. Ping Li ; M.H. Ang ; W. Lin

Matrix-based Supervisory Controller of Transition-Function Specified Robot Controllers / N. Wu Koh ; C. Zielinski ; M. Ang ; S. Yong Lim

Control Architecture for Sensor-Based Two-Handed Manipulation / W. Szynkiewicz ; W. Czajewski ; T. Winiarski

Humanoids / Chapter V：

The mechanical improvements of the anthropomorphic flutist robot WF-4RII to increase the sound clarity and to enhance the interactivity with humans / J. Solis ; K. Suefuji ; K. Taniguchi

Mechanical Design of Emotion Expression Humanoid Robot WE-4RII / K. Itoh ; H. Miwa ; M. Zecca ; H. Takanobu ; S. Roccella ; M. C. Carrozza ; P. Dario

The Mechatronic Design of a Human-like Robot Head / K. Berns ; C. Hillenbrand ; K. Mianowski

Human Equilibrium Control Principles Implemented into a Biped Humanoid Robot / T. Mergner ; F. Huethe ; C. Maurer ; C. Ament

Development of a New Humanoid Robot to Realize Various Walking Pattern Using Waist Motions / Y. Ogura ; H. Aikawa ; K. Shimomura ; H. Kondo ; A. Morishima ; H. Lim

From the Human Hand to a Humanoid Hand: Biologically-Inspired Approach for the Development of RoboCasa Hand #1 / G. Cappiello ; K. Ito ; K. Imanishi ; M.C. Carrozza

Biology and Robotics - Specialized Tools and Methods / Chapter VI：

Towards Realistic Surgical Simulation: Biomechanics of Needle Insertion into Brain / T. Dutta-Roy ; A. Wittek ; Z. Taylor ; K. Chinzei ; T. Washio ; K. Miller

Robotic System for Femoral & Tibial Osteotomies Assistance / K. Bouazza-Marouf ; I. Browbank ; J.R. Hewit ; A.P. Slade ; S.I. Brown ; R. Phillips ; J. Ward ; A.MMA.Mohsen ; K.P. Sherman

WL-16RII: Prototype of Biped Walking Wheelchair / K. Hashimoto ; H. Sunazuka ; M. Kawase ; A. Ohta ; C. Tanaka ; Hun-ok Lim

Prosthesis Design by Robotic Approaches Part 1: Metabolical Cost / W. Schiehlen ; M. Ackermann

Prosthesis Design by Robotic Approaches Part 2: Optimization Approach

Innovative technologies in robotics / Chapter VII：

Sound Source Detection System for Control of an Autonomous Mobile Robot, a Behaviour-Based Approach / J. Lantto

Development and Control of Wheeled Vehicle that Balances on a Rolling Basketball / T. Endo ; Y. Nakamura

Durability of Large-Deflective Hinges made of Blend Polypropylene used for Molded Pantograph Mechanisms / M. Horie ; Y. Okabe ; M. Yamamoto ; D. Kamiya

Mobile Robots Based on Magnetizable Elastic Elements and Ferrofluids / K. Zimmermann ; I. Zeidis

A Flexure-Based Electromagnetic Linear Actuator for Nano-Positioning / T.J. Teo ; I-M. Chen ; G.L. Yang

An Infrared Location System for Relative Pose Estimation of Robots / A. Kemppainen ; J. Haverinen ; J. Roning

Design and Control of the Ball Wheel Drive Mechanism for a Robust Omnidirectional Wheeled Mobile Platform / Young-Chul Lee ; D.V. Lee ; J.H. Chung ; D.A. Bennett ; S.A. Velinsky

Space Robotics / Chapter VIII：

Results and Verification of Spacecraft Docking Emulation using Hardware-in-the-Loop Simulation / S. Laurier Chapleau ; E. Martin

On Dynamic Analysis and Control of a Novel Orbital Debris Disposer / G. Rekleitis

Trajectory Generation for Satellite Capture Using a Redundant Manipulator / G. Rouleau ; I. Sharf

Innovative methods of evaluation in space robotics and surgical robotics design / A. Rovetta ; E.C. Paul ; C. Zocchi

Vision and navigation / Chapter IX：

Visual Target Detection in Unstructured Environments - A Novel Technique for Robotic Navigation / A. Sluzek ; S. Islam

Hand image interpretation based on double active contour tracking / W. Kasprzak ; P. Skrzynski

Mobile robot localization using laser range scanner and omnicamera / M. Olszewski ; B. Siemiatkowska ; R. Chojecki ; P. Marcinkiewicz ; P. Trojanek ; M. Majchrowski

Navigation of an Autonomous Ground Vehicle - Gate Recognition and Crossing / Yi Lu ; V. Polotski ; J. Sasiadek

Preface

Keynote Lectures

Humanoid Robotics, Culture and Society of Japan / A. Takanishi

The Human Frontier: Robotics New Quest and Challenge / O. Khatib

Standardization: A Logical Step in Sustained Space Exploration / A. Bradley

Robot design / Chapter I：

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