Table Of ContentCISM COURSES AND LECTURES
Series Editors:
The Rectors
Manuel Garcia Velarde -Madrid
Mahir Sayir-Zurich
Wilhelm Schneider-Wien
The Secretary General
Bernard Schrefler-Padua
Former Secretary General
Giovanni Bianchi -Milan
Executive Editor
Carlo Tasso - Udine
The series presents lecture notes, monographs, edited works and
proceedings in the field of Mechanics, Engineering, Computer Science
and Applied Mathematics.
Purpose of the series is to make known in the international scientific
and technical community results obtained in some of the activities
organized by CISM, the International Centre for Mechanical Sciences.
INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES
COURSES AND LECTURES-No. 438
ROMANSY 14
THEORY AND PRACTICE OF ROBOTS
AND MANIPULATORS
PROCEEDINGS OF THE FOURTEENTH
CISM-IFToMM SYMPOSIUM
EDITED BY
GIOVANNI BIANCHI
POLYTECHNIC OF MILAN
JEAN-CLAUDE GUINOT
UNIVERSITE PIERRE et MARIE CURIE, PARIS
CEZARY RZYMKOWSKI
WARSAW UNNERSITY OF TECHNOLOGY
~
Springer-Verlag Wien GmbH
This volume contains 410 illustrations
This work is subject to copyright
All rights are reserved,
whether the whole or part oft he material is concerned
specifically those of translation, reprinting, re-use of illustrations,
broadcasting, reproduction by photocopying machine
or similar means, and storage in data banks.
© 2002 by Springer-Verlag Wien
Originally published by Springer-Verlag Wien New York in 2002
Softcover reprint of the hardcover 1st edition 2002
SPIN I 0885402
In order to make this volume available as economically and as
rapidly as possible the authors' typescripts have been
reproduced in their original forms, This method unfortunately
has its typographical limitations but it is hoped that they in no
way distract the reader.
ISBN 978-3-7091-2554-0 ISBN 978-3-7091-2552-6 (eBook)
DOI 10.1007/978-3-7091-2552-6
PREFACE
For almost thirty years the biennial Ro.Man.Sy Symposia, organized jointly by CISM
and IFToMM, have played a dynamic role in the development of the theory and practice of
robotics. They are, traditionally, limited gatherings that encourage informal discussion and
focus on the problems ofm echanics, while not neglecting other perspectives. In this framework
the topics are: mechanics, motion control, sensing and programming, synthesis and design,
applications, legged locomotion, and biomechanical aspects. The term robotics is understood
to also include locomotion systems, exoskeletal and prosthetic devices, and, more generally, all
robotized systems.
Ro.Man.Sy 2002, which took place July 1-4 in Udine, Italy, was enriched with three
keynote lectures, given by Manfred Hiller, Hendrik Van Brussel and Atuso Takanishi, who
discussed new trends in applications and methodology.
This fourteenth Symposium was the first to be held without Adam Morecki, perhaps
more than anyone else responsible for the success of Ro.Man.Sy across the years. With the
characteristic energy that he dedicated to all his undertakings, Adam contributed his scientific
preparation and organizational competence to help make these meetings a unique occasion for
the updating and exchange of the latest developments in the field. His personal warmth and
generosity added a fUrther dimension, stimulating the steady consolidation of contacts and
collaboration on a world scale. In the Memorial Session opening the Symposium, Krzysztof
K~dzior recalled the long and fruitful scientific activity of Professor Morecki. A paper by
Miomir Vukobratovic illustrated the international importance of his organizational work is
included into the Proceedings.
With enduring affection and gratitude this volume is dedicated to Adam Morecki.
Giovanni Bianchi
Jean-Claude Guinot
Cezary Rzymkowski
CONTENTS
Page
Preface
ADAM MORECKI MEMORIAL SESSION
In Memory of Professor Adam Morecki
by K K~dzior, C. Rzymkowski and M Vukobratovic ............................................................. XIII
KEYNOTE LECTURES
Virtual Prototyping of the Combined Wheeled and Legged Robot ALDURO
by M Hiller................................................................................................................................ 3
From Industrial to Service Robots, an Important Paradigm Shift
by H Van Brussel ......................................... : ............................................................................ 5
Humanoid Robotics: New Trend in Robot Research and Industry in Japan
by A. Takanishi ........................................................................................................................... 7
CHAPTER 1: Mechanics
Contributions to the Modelling of Human Joints
by C. Brisan and M Hiller ........ .. .. .. ............. .. .. .. .. .... ..... .. .. ....... ..... .. .. .. .. .. .. .. .. ... .. .. .. .. .. .. .... .... .. . 11
Mathematical Characterization ofthe Workspace of a 6-DOF Parallel Robot
for Reverse Engineering
by E. Castillo-Castaiieda, A. Simchez-Flores and C. Lopez-Cajun.......................................... 21
Geometric Errors Versus Calibration in Manipulators with Less that 6 DOF
by R. Di Gregorio and V. Parenti-Castelli............................................................................... 31
Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel
Mechanism
by A. Frisoli and M Bergamasco ............................................................................................. 39
Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom
by T. Geike and J. McPhee ....................................................................................................... 49
Neighboring Special Configurations of Parallel Manipulators
by V. Glazunov, A. Kraynev, G. Rashoyan, R. Bykov and N. Novikova ............................ ....... 59
Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter-Linear Form
by M Grotjahn, J. Kuhn, B. Heimann and H. Grendel............................................................ 67
Pose, Posture, Formation and Contortion in Kinematic Systems
by J. Rooney and T.K. Tanev .................................................................................................... 77
Mises Derivatives of Motors and Motor Tensors
by K. Wohlhart ......................................................................................................................... 87
CHAPTER II: Motion Control
Control of the Omnidirectional Mobile Robot MARGe
by H. Abdellatif, D. Weidemann, A. Michaelsen, M Grotjahn and B. Heimann .................... 101
Admittance Model Haptic Interaction for Large Workspace Teleoperation
by F. Antoniazzi, P. Gallina, A. Gasparetto and G. Rosati.................................................... 109
A Self-tuning Fuzzy Robotic Force Controller
by R. Bicker, Z. Hu and K. Burn............................................................................................ 119
Configuration Control of a Flexible Micro Robotic Arm for Catheter-type Microrobot
by J. Foret, S. Boudjabbi, A. Ferreira and M De Mathelin................................................... 127
Design of a PID Controller for a Flexible Five-Bar Closed-Chain Planar Manipulator
by P. Gallina, A. Gasparetto, G. Rosati and A. Rossi ......................................................... ;.. 141
Manipulation of Micro-objects using Adhesion Forces and Dynamical Effects
in Unconstrained Environment
by D. Haliyo, S. Regnier and J.C. Guinot .............................................................................. 151
Trajectory Tracking for Robot Manipulator Using Generalized Velocity Components
by P. Herman and K Kozlowski ............................................................................................. 163
Advanced Control of Robot Compliance Tasks Using Hybrid Intelligent Paradigms
by D. Katie and M Vukobratovic........................................................................................... 173
Digital Force Control in Rehabilitation Robotics
by L.L. Kovacs and G. Stepan ................................... ............................................................. 181
Integration of Torque Controlled Arm with Velocity Controlled Base
for Mobile Manipulation
by D. Oetomo, MH Ang Jr., R. Jamisola and 0. Khatib ...................................................... 189
Computer Control of a Robot for Realization of a Smooth Motion
by S. Panev and M Fayet ...................................................................................................... 201
Dynamic Emulation of Space Robot in One-g Environment using Hardware-in-the-Loop
Simulation
by J.-C. Piedbreuf, F. Aghili, M Doyon and E. Martin .......................................................... 213
Path Planning Algorithm Among Obstacles by Considering a Manipulability Index
by F. Valero, V. MataandF. Rubio ...................................................................................... 231
Adaptive Excitation of a Spring Motion of an Object Across Plane Obstacles
by J. Viba, L Tipans, B. Grasmanis and J.-G. Fontaine ......................................................... 241
How to Apply Hybrid Position/Force Control to Robots Interacting with Dynamic
Environment
by M VukobratoviC, Y. Ekalo and A. Rodic ......... .................................................................. 249
CHAPTER ill: Sensing and Programming
A Catadioptric System for 3D Optical Measurements
by M Dalla Valle, P. Gallina, A. Rossi and M Sonego ..................................................... ~ ... 261
Integration Policy for Critical Multi-layered Distributed Robotics Applications
byP. Pomiers ......................................................................................................................... 271
A New Single Frame Pose Estimation Device for Robotics:
Theory and Simulation Results
by G. Rosati............................................................................................................................ 279
The Highest End 3D Transmission System for the Remote Control
by K Tanaka and J. Takeno ................................................................................................... 289
Motion Generators in MRROC++ Based Robot Controllers
by c. Zielinski......................................................................................................................... 299
CHAPTER IV: Synthesis and Design
Development of an Anthropomorphic Talking Robot to Mechanically
Produce Human Voices
by K Nishikawa, A. Imai, T. Ogawara, H. Takanobu, T. Mochi and A. Takanishi................ 309
Evolutionary Optimization of Mechanical and Control Design Application to Active
Endoscopes
by Ph. Bidaud, F. Chapelle and G. Dumont........................................................................... 317
Experimental Validation and Tests of Operation Characteristics of a Parallel-Serial
Manipulator
by G. Carbone, G. Marini and M Ceccarelli......................................................................... 331
Design and Experimentation of Shape Memory Alloy Wire Bundle Actuators
by K. J. DeLaurentis, J. Nikitczuk, A. Fisch and C. Mavroidis. ............................................ 339
3-DOF Planar Positioning-Orientation Mechanisms with Links
and Large-Deflective Hinges
by M Horie, S. Kubo and D. Kamiya ..................................................................................... 351
A Family ofNovel Orientational 3-DOF Parallel Robots
by M Karouia and J. M Herve .............................................................................................. 359
Integrated Design and Analysis of a Novel ScMnflies-Motion Generator
by A. Morozov, J. Angeles, L. AI Bassil and D. Basi.............................................................. 369
Telerobotic Device for Roadway Debris Vacuuming
by A.A. Porterfield, T.R. Mincy, W.A. White, B.R. White and S.A. Velinsky .......................... 379
ROBIAN Hip Joint: Analysis, Design and Simulation
by R. Sellaouti, A. Konno and F.B. Ouezdou.......................................................................... 387
Design of Linear Delta Robot: Compromise Between
Manipulability and Workspace Size
by M Stock and K. Miller. ................................................................................ , ..................... 397
On the Dimensional Synthesis of Spatial Four-and Five-Bar Linkage
by L. Yi and T. Leinonen......................................................................................................... 407
CHAPTER V: Legged Locomotion
On the Turn of Walking Machines with Moving Propellers Made on the Basis
of Cycled Mechanisms
by E.S. Briskin, V. V. Chernyshev, A. V. Maloletov, A. V. Teldekov and V. V. Zhoga ............. 423
Gait Generation and Mechatronic Design of Planar Walker
byl-MingChenand S.H Yeo ............................................................................................... 431
Design and Realization of Jogging Johnnie
by M Gienger, K. Lo.f/ler and F. Pfeiffer............................................................................... 445
Four DOF TORSO Dynamic Effects on Biped Walking Gait
by B. Mohamed, F. Gravez, 0. Bruneau and F.B. Ouezdou .................................................. 453
Inverse Dynamics Power Saving Control of Walking Machines
by S. Gruber and W. Schiehlen.................................. ............................................................. 463
Stabilization Walking Control for Human-like Biped Robots
by H Lim, Y. Sugahara and A. Takanishi .............................................................................. 471
The Significance of Leg Mass in Modeling Quadrupedal Running Gaits
by J. Schmiedeler, R. Sis ton, and K. Waldron........................................................................ 481
Using the Head to Stabilize a Quadrupedal Walker
byJ. Villanova, P. Neveu andJ-P. Gasc ................................................................................ 489
Analysis of Quadruped LAVA Features: Speed, Energy Efficiency and Selected Motion
Abilities
by T. Zielifzska . .. .. .. .. . .. .. .. .. .. .. .. .. .. .. . .. .. .. .. .. .. .. .. .. .. .. . . . .. .. .. .. .. .. .. .. .. . .. .. .. .. . . .. .. .. .. .. .. .. . .. . .. .. .. .. .. . .. .. .. 499
Mathematical Model of Worm-like Motion Systems with Finite and Infinite Degree of
Freedom
by K. Zimmermann, I. Zeidis and J. Steigenberger ............... ................................................. 507
CHAPTER VI: Biomechanical Aspects
Human-like Head Robot WE-3RV for Emotional Human-Robot Interaction
by H Miwa, H Takanobu and A. Takanishi ....... ................................................. .................. 519
Force and Position Control of a SMA Actuated Endoscope
by V. de Sars, J. Szewczyk and Ph. Bidaud ............................................................................ 527
Human Symbiotic Humanoid Robot with Whole-body Compliance
by H Iwata, T. Morita and S. Sugano .................................................................................... 537
Patient Simulator for Mouth Opening and Closing Training
by H Takanobu, K. Nakamura, A. Takanishi, K. Ohtsuki, M Ohnishi and A. Okino ........... 549
