Table Of ContentCISM International Centre for Mechanical
Sciences
Vincenzo Parenti-Castelli
Werner Schiehlen Editors
ROMANSY 21 -
Robot Design,
Dynamics and
Control
Proceedings of the 21st CISM-IFToMM
Symposium, June 20–23, Udine, Italy
CISM International Centre for Mechanical
Sciences
Courses and Lectures
Volume 569
Series editors
The Rectors
Friedrich Pfeiffer, Munich, Germany
Franz G. Rammerstorfer, Vienna, Austria
Elisabeth Guazzelli, Marseille, France
The Secretary General
Bernhard Schrefler, Padua, Italy
Executive Editor
Paolo Serafini, Udine, Italy
Theseriespresentslecturenotes,monographs,editedworksandproceedingsinthe
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.
More information about this series at http://www.springer.com/series/76
Vincenzo Parenti-Castelli
Werner Schiehlen
Editors
ROMANSY 21 - Robot
Design, Dynamics
and Control
Proceedings of the 21st CISM-IFToMM
–
Symposium, June 20 23, Udine, Italy
123
Editors
Vincenzo Parenti-Castelli WernerSchiehlen
Department ofIndustrial Engineering Institute of Engineering andComputational
University of Bologna Mechanics
Bologna University of Stuttgart
Italy Stuttgart
Germany
ISSN 0254-1971 ISSN 2309-3706 (electronic)
CISMInternational Centre for MechanicalSciences
ISBN978-3-319-33713-5 ISBN978-3-319-33714-2 (eBook)
DOI 10.1007/978-3-319-33714-2
LibraryofCongressControlNumber:2016939114
©CISMInternationalCentreforMechanicalSciences2016
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar
methodologynowknownorhereafterdeveloped.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom
therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor
foranyerrorsoromissionsthatmayhavebeenmade.
Printedonacid-freepaper
ThisSpringerimprintispublishedbySpringerNature
TheregisteredcompanyisSpringerInternationalPublishingAGSwitzerland
Preface
The First CISM-IFToMM Symposium on Theory and Practice of Robots and
Manipulators washeld duringSeptember 5–8,1973,inUdine,Italy, notlong after
IFToMM had been founded in 1969. The first ROMANSY, or Ro.Man.Sy., as the
Symposium used to be referred to, marks the beginning of a long-lasting partner-
ship between two international institutions, CISM, the Centre International des
SciencesMécaniquesandIFToMM,theInternationalFederationforthePromotion
of Mechanism and Machine Science.
As the 21st CISM-IFToMM Symposium returns to Udine, RoManSy2016 will
continuetopreservethistradition,byencouragingpapersthatareofabroadinterest
to the participants, providing an environment, and setting for meaningful technical
andpersonalinteractionsamongthedelegates.Inparticular,theconferencesolicits
papers providinga vision ofthe evolutionof the robotics disciplines and signaling
new directions in which these disciplines are foreseen to develop.
The paper topics of the 21st Symposium include, but not limited to, the
following:
(cid:129) Kinematics and Dynamics for Robotics
(cid:129) Control and Perception of Robots
(cid:129) Novel Robot Design
(cid:129) Humanoid Robots
(cid:129) Medical Devices
(cid:129) Innovations and Applications
The 21st Symposium takes place during June 20–23, 2016 in Udine, Italy and
willbeenrichedbytwokeynotepaperspresented byI-Ming ChenfromSingapore
and Oussama Khatib from Stanford, USA. These papers deal with innovations in
infrastructure service robots and highlight the success of the ongoing ROMANSY
symposia series.
For the steering of future ROMANSY symposia an advisory board has been
established chaired by one CISM representative and one IFToMM representative.
In particular, the advisory board will encourage and review proposals for
v
vi Preface
forthcomingROMANSYsymposia. TheAdvisory Board2016iscomposedofthe
following members:
(cid:129) Vincenzo Parenti-Castelli, Italy (CISM Representative)
(cid:129) I-Ming Chen, Singapore (IFoMM Representative)
(cid:129) Philippe Bidaud, France
(cid:129) Marco Ceccarelli, Italy
(cid:129) Oussama Khatib, USA
(cid:129) Werner Schiehlen, Germany
(cid:129) Atsuo Takanishi, Japan
(cid:129) Teresa Zielinska, Poland
TheInternationalScientificCommittee(ISC)isresponsibleasinthepastforthe
promotion and the review of the submitted papers in cooperation with the Pro-
gramme Committee Co-Chairs. The following scientists have been serving on the
ISC 2016:
(cid:129) Vigen Arakelyan, France
(cid:129) Giuseppe Carbone, Italy
(cid:129) Greg Chirikjian, USA
(cid:129) Victor Glazunov, Russia
(cid:129) Clément Gosselin, Canada
(cid:129) Qiang Huang, China
(cid:129) Yan Jin, UK
(cid:129) Andres Kecskemethy, Germany
(cid:129) Yukio Takeda, Japan
(cid:129) Marek Wojtyra, Poland
The ISC reviewed 54 papers and accepted 47 of them. In this volume the two
keynote lectures and the contributed papers after a final revision are published.
The Programme Committee Co-Chairs are thankful for the great service pro-
vided by the CISM staff. In particular, Mrs. Paola Agnola, Mrs. Marika Minisini,
and Prof. Paolo Serafini did an excellent job even when the changes in the CISM
printing office required a special attention.
Italy Vincenzo Parenti-Castelli
Germany Werner Schiehlen
Contents
Part I Keynote Papers
Innovations in Infrastructure Service Robots. . . . . . . . . . . . . . . . . . . . 3
I-Ming Chen, Ehsan Asadi, Jiancheng Nie, Rui-Jun Yan,
Wei Chuan Law, Erdal Kayacan, Song Huat Yeo, Kin Huat Low,
Gerald Seet and Robert Tiong
The New Robotics Age: Meeting the Physical Interactivity
Challenge. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Oussama Khatib
Part II Kinematics for Robotics
Robust Inverse Kinematics at Position Level by Means
of the Virtual Redundant Axis Method . . . . . . . . . . . . . . . . . . . . . . . . 21
Francisco Geu Flores, Sebastian Röttgermann, Bettina Weber
and Andrés Kecskeméthy
Redundancy Resolution of a 9 DOF Serial Manipulator
Under Hard Task Constraints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Narendrakrishnan Neythalath, Mathias Brandstötter
and Michael Hofbaur
Geometry and Direct Kinematics of Six-DOF Three-Limbed
Parallel Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Zh. Baigunchekov, M. Kalimoldaev, M. Utenov
and T. Baigunchekov
Learning Global Inverse Kinematics Solutions
for a Continuum Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Thomas George Thuruthel, Egidio Falotico, Matteo Cianchetti
and Cecilia Laschi
vii
viii Contents
A Study of a Wheel Shape for Increasing Climbing Ability
of Slopes and Steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
K. Tanaka, H. Ishii, D. Endo, J. Mitsuzuka, D. Kuroiwa,
Y. Okamoto, Y. Miura, Q. Shi, S. Okabayashi, Y. Sugahara
and A. Takanishi
Position Kinematics of a 3-RRS Parallel Manipulator. . . . . . . . . . . . . . 65
Halil Tetik, Rohit Kalla, Gokhan Kiper and Sandipan Bandyopadhyay
Kinematic Analysis of a Single-Loop Translational Manipulator. . . . . . 73
Raffaele Di Gregorio
A Measure of the Distance Between Two Rigid-Body Poses
Based on the Use of Platonic Solids. . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Claudio Mazzotti, Nicola Sancisi and Vincenzo Parenti-Castelli
Part III Dynamics for Robotics
Properties of the Dahl Model Applied to Modelling of Static
Friction in Closed-Loop Kinematic Chains. . . . . . . . . . . . . . . . . . . . . . 93
Marek Wojtyra
Mechanics of Mobile Robots with Mecanum Wheels. . . . . . . . . . . . . . . 103
Klaus Zimmermann, Igor Zeidis, Florian Schale
and Pedro Alonso Flores-Alvarez
Design of Partially Balanced 5R Planar Manipulators
with Reduced Center of Mass Acceleration (RCMA) . . . . . . . . . . . . . . 113
Vigen Arakelian
An Alternative Approach to the Dynamics Analysis
of Closed-Loop Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Wei Li and Jorge Angeles
Lagrangian Based Dynamic Analyses of Delta Robots
with Serial-Parallel Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Jan Brinker and Burkhard Corves
Part IV Control and Perception of Robots
Adaptive Model Predictive Control Design for Underactuated
Multibody Systems with Uncertain Parameters . . . . . . . . . . . . . . . . . . 145
Fabian Schnelle and Peter Eberhard
Control and Experiments with Energy-Saving SCARA Robots . . . . . . . 153
Makoto Iwamura and Werner Schiehlen
Control Design for Pneumatic Manipulation Robot . . . . . . . . . . . . . . . 163
Anton Aliseychik, Viktor Glazunov, Igor Orlov, Vladimir Pavlovsky
and Marina Shishova
Contents ix
Adaptive Edge Features Estimation for Humanoid Robot
Visual Perception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Tianwei Zhang and Yoshihiko Nakamura
Disturbance Rejection Controller for Biped Walking
Using Real-Time ZMP Regulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Zhangguo Yu, Maoxing Zheng, Qinqin Zhou, Xuechao Chen,
Libo Meng, Weimin Zhang, Aiguo Ming and Qiang Huang
Part V Novel Robot Design
Human-Powered Robotics—Concept and One-DOF Prototype . . . . . . . 191
Yusuke Sugahara
Gripping Tests on an Underactuated Self-adapting Hand
Prototype. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Cesare Rossi and Sergio Savino
Combined Structural and Dimensional Synthesis of Serial Robot
Manipulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
D. Ramirez, J. Kotlarski and T. Ortmaier
Development of the Acroboter Service Robot Platform. . . . . . . . . . . . . 217
László Bencsik, Ambrus Zelei and Gábor Stépán
The Inversion of Motion of Bristle Bots: Analytical
and Experimental Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Giancarlo Cicconofri, Felix Becker, Giovanni Noselli,
Antonio Desimone and Klaus Zimmermann
Design of a Compliant Environmentally Interactive Snake-Like
Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Sergio Jainandunsing, Just L. Herder, Yukio Takeda
and Daisuke Matsuura
Part VI Humanoid Robots
Joint Mechanism Coping with Both of Active Pushing-off
and Joint Stiffness Based on Human . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Takuya Otani, Kenji Hashimoto, Takaya Isomichi,
Shunsuke Miyamae, Masanori Sakaguchi, Yasuo Kawakami,
Hun-ok Lim and Atsuo Takanishi
Design of a Dexterous Hand for a Multi-hand Task. . . . . . . . . . . . . . . 251
Neda Hassanzadeh, Reza Movassagh-Khaniki
and Alba Perez-Gracia
