Table Of ContentCISM International Centre for Mechanical Sciences 601
Courses and Lectures
Gentiane Venture
Jorge Solis
Yukio Takeda
Atsushi Konno Editors
ROMANSY 23 -
Robot Design,
Dynamics and
Control
Proceedings of the 23rd CISM IFToMM
Symposium
International Centre
for Mechanical Sciences
CISM International Centre for Mechanical
Sciences
Courses and Lectures
Volume 601
Managing Editor
Paolo Serafini, CISM—International Centre for Mechanical Sciences, Udine, Italy
Series Editors
ElisabethGuazzelli,IUSTIUMR7343,Aix-MarseilleUniversité,Marseille,France
Franz G. Rammerstorfer, Institut für Leichtbau und Struktur-Biomechanik,
TU Wien, Vienna, Wien, Austria
Wolfgang A. Wall, Institute for Computational Mechanics, Technical University
Munich, Munich, Bayern, Germany
Bernhard Schrefler, CISM—International Centre for Mechanical Sciences, Udine,
Italy
For more than 40 years the book series edited by CISM, “International Centre for
Mechanical Sciences: Courses and Lectures”, has presented groundbreaking
developments in mechanics and computational engineering methods. It covers
such fields as solid and fluid mechanics, mechanics of materials, micro- and
nanomechanics, biomechanics, and mechatronics. The papers are written by
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some introductory material.
More information about this series at http://www.springer.com/series/76
Gentiane Venture Jorge Solis
(cid:129) (cid:129)
Yukio Takeda Atsushi Konno
(cid:129)
Editors
ROMANSY 23 - Robot
Design, Dynamics
and Control
Proceedings of the 23rd CISM IFToMM
Symposium
123
Editors
Gentiane Venture Jorge Solis
Tokyo University of Agriculture Karlstad University
andTechnology Karlstad, Sweden
Tokyo,Japan
Atsushi Konno
YukioTakeda Hokkaido University
Tokyo Institute of Technology Sapporo,Japan
Tokyo,Japan
ISSN 0254-1971 ISSN 2309-3706 (electronic)
CISMInternational Centre for MechanicalSciences
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Preface
It is a great pleasure to present to you the 23rd CISM-IFToMM Symposium on
TheoryandPracticeofRobotsandManipulators.Thisvolumehighlightsthelatest
advances, innovations, and applications in robotics, as presented by leading inter-
national researchers and engineers at the conference held online during September
20–24, 2020.
ROMANSY symposium is the first established conference that emphasizes the
theory and research of robotics, rather than the industrial aspect. Thanks to the
active participation of researchers from many countries, the symposium is held
bi-annuallyandisplayingavitalroleinthedevelopmentofthetheoryandpractice
of robotics, as well as of mechanical sciences.
ROMANSY 2020 is the 23rd event in a series that started in 1973. It was also
thefirsttopicconferenceofIFToMM(InternationalFederationforthePromotionof
Mechanism and Machine Science), and it was directed not only to the IFToMM
community.
Even though the conference couldn’t be held in person, ROMANSY 2020 is
faithful to this tradition.
We would like to express our deepest gratitude for the enthusiasm and dedi-
cation shown by the ROMANSY committee that supported the preparation of the
proceedings and all the authors of the presented papers.
Gentiane Venture
Jorge Solis
Program Chairs
Yukio Takeda
Atsushi Konno
General Chairs
v
Contents
Active Visualization of Non-destructive Inspection for Metal Using
Terahertz Camera and Light Source . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
ShunsukeYamada,TeppeiTsujita,MasahiroKurosaki,TetsuoTomizawa,
Yutaka Sakuma, and Ryosuke Eto
Model-Based Dynamic Human Tracking and Reconstruction
During Dynamic SLAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Huayan Zhang, Tianwei Zhang, and Lei Zhang
Development of Robust Ridge Detection Method and Control System
for Autonomous Navigation of Mobile Robot in Agricultural Farm. . . . 16
Shunsuke Fujita, Takanori Emaru, Ankit A. Ravankar,
and Yukinori Kobayashi
Continuous Jumping Control Based on Virtual Model Control
for a One-Leg Robot Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
LiboMeng,MarcoCeccarelli,ZhangguoYu,XuechaoChen,GaoHuang,
and Qiang Huang
Investigation of Parallel Connection Circuit by Hydraulic
Direct-Drive System for Biped Humanoid Robot Focusing on Human
Running Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Hideki Mizukami, Takuya Otani, Juri Shimizu, Kenji Hashimoto,
MasanoriSakaguchi,YasuoKawakami,Hun-okLim,andAtsuoTakanishi
Maximal Output Admissible Set of Foot Position Control
in Humanoid Walking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Ko Yamamoto, Ryo Yanase, and Yoshihiko Nakamura
Control System Design for Human Assisting Robot. . . . . . . . . . . . . . . . 52
Teresa Zielinska and Michele Tartari
vii
viii Contents
DevelopmentofaSwitchableWearableRobotforRehabilitationAfter
Surgery of Knee. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Koji Makino, Teppei Ogura, Masahiro Nakamura,
and Hidetsugu Terada
Design and Testing of BIT Flying Robot . . . . . . . . . . . . . . . . . . . . . . . . 68
Yunqi Liu, Long Li, Marco Ceccarelli, Hui Li, Qiang Huang,
and Xiang Wang
Surgical Skill Analysis Based on the Way of Grasping Organs
with Forceps in Dissection Procedure of Laparoscopic Surgery. . . . . . . 76
Koki Ebina, Takashige Abe, Shunsuke Komizunai, Teppei Tsujita,
Kazuya Sase, Xiaoshuai Chen, Madoka Higuchi, Jun Furumido,
Naoya Iwahara, Yo Kurashima, Nobuo Shinohara, and Atsushi Konno
Mechanism and Control of Powered Prosthesis with Bi-articular
Muscle-Type Hydraulic Bilateral Servo Actuator. . . . . . . . . . . . . . . . . . 84
Takanori Higashihara, Toru Oshima, Takumi Tamamoto, Kengo Ohnishi,
Ken’ichi Koyanagi, and Yukio Saito
Development of a Remote-Controlled Drone System by Using Only
Eye Movements for Bedridden Patients . . . . . . . . . . . . . . . . . . . . . . . . . 92
Atsunori Kogawa, Moeko Onda, Yoshihiro Kai, Tetsuya Tanioka,
Yuko Yasuhara, and Hirokazu Ito
Development of a Climbing-Robot for Spruce Pruning:
Preliminary Design and First Results. . . . . . . . . . . . . . . . . . . . . . . . . . . 100
GiovanniCarabin,DavideEmanuelli,RaimondoGallo,FabrizioMazzetto,
and Renato Vidoni
A Suspended Cable-Driven Parallel Robot for Human-Cooperative
Object Transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Yusuke Sugahara, Guangcan Chen, Nanato Atsumi, Daisuke Matsuura,
Yukio Takeda, Ryo Mizutani, and Ryuta Katamura
Automatic Planning of Psychologically Less-Stressful Trajectories
in Collaborative Workstations: An Integrated Toolbox
for Unskilled Users. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Rafael A. Rojas, Manuel A. Ruiz Garcia, Luca Gualtieri, Erich Wehrle,
Erwin Rauch, and Renato Vidoni
ANewMethodofClimbingDownstairsbyChangingLayersofGears
of Planetary Wheels for Wheelchair. . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Tian-ci Jiang and Eiichiro Tanaka
Design and Analysis of Cable-Driven Parallel Robot CaRISA:
A Cable Robot for Inspecting and Scanning Artwork . . . . . . . . . . . . . . 136
Philipp Tempel, Matthias Alfeld, and Volkert van der Wijk
Contents ix
A Low Cost Introductory Platform for Advanced Robotic Control . . . . 145
Bin Wei
Experimental Study Regarding Needle Deflection in Robotic Assisted
Brachytherapy of Hepatocellular Carcinoma . . . . . . . . . . . . . . . . . . . . . 154
Paul Tucan, Nicolae Plitea, Bogdan Gherman, Nadim al Hajjar,
Corina Radu, Calin Vaida, and Doina Pisla
Experimental Study of Force Transmission in 4-DOF Parallel
Manipulator and Its Educational Applications. . . . . . . . . . . . . . . . . . . . 162
Pavel Laryushkin, Elizaveta Pukhova, and Ksenia Erastova
Dynamic Model of Servo Mechanical Press . . . . . . . . . . . . . . . . . . . . . . 170
Assylbek Jomartov, Amandyk Tuleshov, Nutpulla Jamalov,
Askar Seydakhmet, Sayat Ibrayev, Moldyr Kuatova, Ablay Kaimov,
Yerbol Temirbekov, and Bayandy Bostanov
A Decentralized Structure for the Digital Shadows of Internet
of Production . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Amir Shahidi, Mathias Hüsing, and Burkhard Corves
Motion Trajectory Optimization of an Assistive Device During
Stairs Ascending. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Bo-Rong Yang, Shuai-Hong Yu, Kai Pang, Hee-Hyol Lee,
and Eiichiro Tanaka
Autonomous Flight of a Quad Tilt-Rotor UAV at Constant Altitude. . . 195
Satoko Abiko and Tomohiro Harada
Control-Based Design of a DELTA Robot . . . . . . . . . . . . . . . . . . . . . . . 204
Minglei Zhu, Abdelhamid Chriette, and Sébastien Briot
Minimizing the Energy Consumption of a Delta Robot by Exploiting
the Natural Dynamics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette,
and Philippe Martinet
Preliminary Design and Modeling of a Robot for Pipe Navigation
with a Novel Wheel-Leg Architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Carl A. Nelson
Sensitivity Analysis of Cable Actuations for Moving a Tensegrity
Mechanism Along a Specified Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Pramod Kumar Malik, Keshab Patra, and Anirban Guha
An Approach to Motion Task-Oriented, Computer-Aided Design
of Origami-Inspired Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Judith U. Merz, Felix J. Reimer, Mathias Hüsing, and Burkhard Corves
x Contents
Asymmetric Spatial Beams with Symmetric Kinetostatic Behaviour . . . 247
Ali Amoozandeh Nobaveh, Giuseppe Radaelli, and Just L. Herder
A Semi-automatic Type Synthesis of a Closed-Loop
Spatial Path-Generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Naoto Kimura and Nobuyuki Iwatsuki
Walking Robot Leg Design Based on Translatory Straight-Line
Generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
SayatIbrayev,NutpullaJamalov,AmandykTuleshov,AssylbekJomartov,
Aidos Ibrayev, Aziz Kamal, Arman Ibrayeva, and Kuatbay Bissembayev
DevelopingaFlexibleSegmentUnitforRedundant-DOFManipulator
Using Bending Type Pneumatic Artificial Muscle. . . . . . . . . . . . . . . . . . 272
Hiroki Tomori, Tomohiro Koyama, Hiromitsu Nishikata,
Akinori Hayasaka, and Ikumi Suzuki
Gravity Compensation of Delta Parallel Robot Using
a Gear-Spring Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Vu Linh Nguyen, Chin-Hsing Kuo, and Chyi-Yeu Lin
Design of the Mobile Robot Agri.q. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Paride Cavallone, Carmen Visconte, Luca Carbonari, Andrea Botta,
and Giuseppe Quaglia
Kinematic Design of an Adjustable Foot Motion Generator
for Gait Rehabilitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Chanatip Thongsookmark, Agnes Beckermann, Mathias Hüsing,
and Yukio Takeda
Design and Construction of the DragonBall. . . . . . . . . . . . . . . . . . . . . . 305
Bir Bikram Dey and Michael Jenkin
Wire-Pulling Mechanism with Embedded Soft Tubes for Robot
Tongue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Nobutsuna Endo
Kineto-static Analysis of a Compact Wrist Rehabilitation
Robot Including the Effect of Human Soft Tissue to Compensate
for Joint Misalignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Ying-Chi Liu and Yukio Takeda
A Mobile Robot Which Locomotes on Walls to Interact
with Rodents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
Soichi Yamada, Keitaro Ishibashi, Hiroya Yokoyama, Jiei Yanagi,
Atsuo Takanishi, and Hiroyuki Ishii
