Latest Advances in Robot Kinematics

Preface.- The Dual Generalized Inverses and Their Applications in Kinematic Synthesis; Jorge Angeles.- On the Twist Recovery Methodologies after Failure; Leila Notash.- A Loop-Based Approach for Rigid Subchain Identification in General Mechanisms; Shuxian Xia, Huafeng Ding and Andres Kecskemethy.- Self-Motions of Planar Projective Stewart Gough Platforms; G. Nawratil.- Asymptotic Singularities of Planar Parallel 3-R Manipulators; Michel Coste.- Classification of the Singularity Loci of m-n Fully-Parallel Manipulators; Raffaele Di Gregorio.- Compensation of Compliance Errors in Parallel Manipulators Composed of Non-perfect Kinematic Chains; Alexandr Klimchik, Anatol Pashkevich, Damien Chablat and Geir Hovland.- Motion Planning of the Multi-Bar System: The Imbalanced Jacobian Algorithm; Janusz Jakubiak, Krzysztof Tcho'n and Mariusz Janiak.- Self-Calibration of Redundantly Actuated PKM Based on Motion Reversal Points; Andreas Muller and Maurizio Ruggiu.- Managing the Redundancy of $N-1$ Wire-Driven Parallel Robots; J-P. Merlet.- Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action; F. Cordella, L. Zollo, A. Salerno, E. Guglielmelli and B. Siciliano.- On the Vertical Darboux Motion; Chung-Ching Lee and Jacques M. Hervé.- Kinematic Analysis of a Planar Tensegrity Mechanism for Wave Energy Harvesting; Rafael E. Vasquez, Carl D. Crane III and Julio C. Correa.- Motion Planning for Parallel Robots with Non-Holonomic Joints; Krzysztof Tcho'n, Janusz Jakubiak, Patrick Grosch and Federico Thomas.- Synthesis of a Family of Regular Deployable Polyhedral Mechanisms (DPMs); Guowu Wei and Jian S. Dai.- Type Synthesis of Binary Actuated Parallel Mechanisms; D. Schutz, R.J. Ellwood, A. Raatz and J. Hesselbach.-Biokinematic Study of Barn Owl Head Movements for the Development of a Bio-Inspired Active Vision Robotic System; Ouriel Barzilay, Yoram Gutfreund and Alon Wolf.- Robotic Fish Kinectics Design Based on aFuzzy Control; Pei-Jun Lee and Wen-June Wang.- Persistent Screw Systems of Dimension Four; Marco Carricato.- Simplified Voronoi Diagrams for Motion Planning of Quadratically-Solvable Gough--Stewart Platforms; Rubèn Vaca, Joan Aranda and Federico Thomas.- Dynamic Capabilities of a Parallel Robot Based Routing Machine; J. Corral, Ch. Pinto, F.J. Campa and O. Altuzarra.- Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks; E. Simo-Serra, A. Perez-Gracia, H. Moon and N. Robson.- Inverse Kinematics Solver for Android Faces with Elastic Skin; Emarc Magtanong, Akihiko Yamaguchi, Kentaro Takemura, Jun Takamatsu and Tsukasa Ogasawara.- Decomposing Envelopes of Rational Hypersurfaces; Tino Schulz and Bert Juttler.- Influence of Pulley Kinematics on Cable-Driven Parallel Robots 197; Andreas Pott.- Fast Approximate Implicitization of Envelope Curves Using Chebyshev Polynomials; Oliver J.D. Barrowclough, Bert J?ttler and Tino Schulz.- Kinematics of an Overconstrained 6R Linkage with 2-Fold Rotational Symmetry; Ketao Zhang and Jian S. Dai.- Construction of Overconstrained Linkages by Factorization of Rational Motions; Gábor Heged?s, Josef Schicho and Hans-Peter Schröcker.- Bond Theory and Closed 5R Linkages; Gábor Heged?s, Josef Schicho and Hans-Peter Schröcker.- Design and Control of a Redundant Suspended Cable-Driven Parallel Robot; Johann Lamaury, Marc Gouttefarde, Micaël Michelin and Olivier Tempier.- Planning Singularity-Free Force-Feasible Paths on the Stewart Platform; Oriol Bohigas, Montserrat Manubens and Lluìs Ros.- Orientation Capability of 3-RPSR Parallel Mechanism for Movable-Die Drive Mechanism of Pipe Bender; Yukio Takeda, Satoshi Inada, Daisuke Matsuura, Kazuya Hirose and Ken Ichiryu.- Investigation of a Cable-Driven Parallel Mechanism for Interaction with a Variety of Surfaces, Applied to the Cleaning of Free-Form Buildings; K.H.J. Vos, V. van der Wijk and J.L. Herder.- Auto CalibrationMethod for Cable-Driven Parallel Robots Using Force Sensors; Philipp Miermeister and Andreas Pott.-Protein Folding Pathways Implementing Dihedral Angle Variable Speed; Mikel Diez, Victor Petuya, Monica Urizar and Alfonso Hernandez.- Sufficient Conditions for the Mobility of Overconstrained Mechanisms; René Bartkowiak and Christoph Woernle.- Some Rigid-Body Constraint Varieties Generated by Linkages; J.M. Selig.- Constraint-Consistent Analysis of Muscle Force Contributions to Human Gait; Emel Demircan and Oussama Khatib.- Inherently Balanced 4R Four-Bar Based Linkages; V. van der Wijk and J.L. Herder.- Integrated Type and Dimensional Synthesis of Planar Four-Bar Mechanisms; Tim J. Luu and M. John D. Hayes.- Positional Workspace Boundary for Serial Manipulators with Revolute Joints; Ciprian S. Borcea and Ileana Streinu.- Kinematics Analysis of a Parallel Surgical Robot; A. Szilaghyi, A. Stoica, D. Pisla, C. Vaida and N. Plitea.- Constraint Singularity-Free Design of the IRSBot-2; Coralie Germain, Sebastien Briot, Stèphane Caro and Philippe Wenger.- Human Muscle Fatigue Model in Dynamic Motions; Ruina Ma, Damien Chablat, Fouad Bennis and Liang Ma.- Solution Regions in the Parameter Space of a 3-RRR Decoupled Robot for a Prescribed Workspace; D. Chablat, G. Moroz, V. Arakelian, S. Briot and P. Wenger.- Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables; Marco Carricato, Ghasem Abbasnejad and Dominic Walter.- The Kinematotropic 3-CPU Parallel Robot: Analysis of Mobility and Reconfigurability Aspects; Luca Carbonari and Massimo Callegari.- A Planar Compliant Mechanism with RRP Mobilities Based on the Singularity Analysis of a 3-US Parallel Mechanism; Lennart Rubbert, Stèphane Caro, Pierre Renaud and Jacques Gangloff.- Velocity Level Kinematic Analysis of Serial $n$A-Chains; James D. Robinson and M. John D. Hayes.- Singular Manifold of the General Hexagonal Stewart Platform Manipulator; Viswanath Shanker and SandipanBandyopadhyay.- Trajectory Planning for Systems with Homotopy Class Constraints; Soonkyum Kim, Koushil Sreenath, Subhrajit Bhattacharya and Vijay Kumar.- Dynamics of the Upper Limb with a Detailed Model for the Shoulder; Jorge Ambrosio, Carlos Quental, João Folgado and Jacinto Monteiro.- Inverse Kinematics for the Control of Hyper-Redundant Binary Mechanisms with Application to Solar Concentrator Mirrors; Amy M. Bilton and Steven Dubowsky.- Mobile Robot Motion Primitives That Take into Account the Cost of Control; Sohee Lee and Frank Chongwoo Park.- Synthesis of Spatial CC Dyads and 4C Mechanism for Pick & Place Tasks with Guiding Locations; P. Larochelle.- On the Role of Passive Structures in the Knee Loaded Motion; Nicola Sancisi and Vincenzo Parenti-Castelli.- Name Index.- Subject Index.