ROMANSY 21 - Robot Design, Dynamics and Control

1 - Preface [Seite 6]
2 - Contents [Seite 8]
3 - Keynote Papers [Seite 14]
4 - 1 Innovations in Infrastructure Service Robots [Seite 15]
4.1 - Abstract [Seite 15]
4.2 - 1 Introduction [Seite 16]
4.3 - 2 Mobile High-Rise Spray Painting Robot [Seite 17]
4.3.1 - 2.1 Motivation [Seite 17]
4.3.2 - 2.2 Overall System [Seite 18]
4.3.3 - 2.3 Robotic System Realization [Seite 19]
4.4 - 3 Post-construction Quality Assessment Robot [Seite 20]
4.4.1 - 3.1 Motivation [Seite 20]
4.4.2 - 3.2 Quality Assessment Methodology [Seite 21]
4.4.3 - 3.3 Experimental Results [Seite 22]
4.5 - 4 Deep Tunnel Sewerage System Inspection Robot [Seite 24]
4.5.1 - 4.1 Motivation [Seite 24]
4.5.2 - 4.2 Overall System [Seite 24]
4.5.3 - 4.3 System Designs [Seite 25]
4.6 - 5 Conclusions and Discussion [Seite 26]
4.7 - Acknowledgments [Seite 26]
4.8 - References [Seite 27]
5 - 2 The New Robotics Age: Meeting the Physical Interactivity Challenge [Seite 29]
5.1 - Abstract [Seite 29]
6 - Kinematics for Robotics [Seite 31]
7 - Robust Inverse Kinematics at Position Level by Means of the Virtual Redundant Axis Method [Seite 32]
7.1 - 1 Introduction [Seite 32]
7.2 - 2 State of the Art [Seite 33]
7.2.1 - 2.1 Problem Formulation [Seite 33]
7.2.2 - 2.2 WDLS Method with Feedback Correction [Seite 34]
7.3 - 3 Virtual Redundant Axis Method [Seite 35]
7.3.1 - 3.1 VRA at Velocity Level [Seite 36]
7.3.2 - 3.2 VRA at Position Level [Seite 37]
7.4 - 4 Experimental Results [Seite 38]
7.5 - 5 Conclusions [Seite 39]
7.6 - References [Seite 39]
8 - Redundancy Resolution of a 9 DOF Serial Manipulator Under Hard Task Constraints [Seite 41]
8.1 - 1 Introduction [Seite 41]
8.2 - 2 Task Definition [Seite 44]
8.3 - 3 Null Space Constraints [Seite 44]
8.4 - 4 Null Space Transport [Seite 46]
8.5 - 5 Conclusions [Seite 47]
8.6 - References [Seite 47]
9 - 5 Geometry and Direct Kinematics of Six-DOF Three-Limbed Parallel Manipulator [Seite 49]
9.1 - Abstract [Seite 49]
9.2 - 1 Introduction [Seite 49]
9.3 - 2 Geometry of the PM 3CCC [Seite 50]
9.4 - 3 Direct Kinematics [Seite 54]
9.5 - 4 Conclusions [Seite 55]
9.6 - References [Seite 55]
10 - 6 Learning Global Inverse Kinematics Solutions for a Continuum Robot [Seite 57]
10.1 - Abstract [Seite 57]
10.2 - 1 Introduction [Seite 57]
10.3 - 2 Formulation of the Inverse Kinematics Learning Problem [Seite 59]
10.4 - 3 Training the Neural Network [Seite 60]
10.5 - 4 Simulations and Analysis [Seite 62]
10.6 - 5 Conclusion [Seite 63]
10.7 - Acknowledgement [Seite 63]
10.8 - References [Seite 64]
11 - 7 A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps [Seite 65]
11.1 - Abstract [Seite 65]
11.2 - 1 Introduction [Seite 66]
11.3 - 2 Overall Design of WAMOT [Seite 67]
11.4 - 3 A Study on a New Wheel Shape [Seite 67]
11.4.1 - 3.1 A Study of Climbing Steps [Seite 67]
11.4.2 - 3.2 A Study of Climbing Slopes [Seite 68]
11.4.3 - 3.3 A Study on the Number of Notches [Seite 69]
11.4.4 - 3.4 A Study of the Edge Shape of the Notch [Seite 71]
11.5 - 4 Verification [Seite 73]
11.6 - 5 Discussion [Seite 73]
11.7 - 6 Conclusions [Seite 74]
11.8 - References [Seite 74]
12 - Position Kinematics of a 3-underlineRRS Parallel Manipulator [Seite 75]
12.1 - 1 Introduction [Seite 75]
12.2 - 2 Position Analysis [Seite 76]
12.3 - 3 Numerical Example [Seite 81]
12.4 - 4 Conclusion [Seite 81]
12.5 - References [Seite 81]
13 - 9 Kinematic Analysis of a Single-Loop Translational Manipulator [Seite 83]
13.1 - Abstract [Seite 83]
13.2 - 1 Introduction [Seite 83]
13.3 - 2 Position Analysis [Seite 85]
13.4 - 3 Instantaneous Kinematics [Seite 86]
13.5 - 4 Conclusions [Seite 88]
13.6 - Acknowledgments [Seite 89]
13.7 - References [Seite 89]
14 - 10 A Measure of the Distance Between Two Rigid-Body Poses Based on the Use of Platonic Solids [Seite 90]
14.1 - Abstract [Seite 90]
14.2 - 1 Introduction [Seite 90]
14.3 - 2 Formulation of the Proposed Distance Metric [Seite 92]
14.4 - 3 Distance Metric Properties [Seite 95]
14.5 - 4 Position and Dimension of the Tetrahedron [Seite 95]
14.6 - 5 Conclusions [Seite 97]
14.7 - References [Seite 97]
15 - Dynamics for Robotics [Seite 99]
16 - 11 Properties of the Dahl Model Applied to Modelling of Static Friction in Closed-Loop Kinematic Chains [Seite 100]
16.1 - Abstract [Seite 100]
16.2 - 1 Introduction [Seite 100]
16.3 - 2 Constraints Addition-Deletion in Closed-Loop Mechanisms [Seite 101]
16.4 - 3 Dahl Friction in Closed-Loop Mechanisms [Seite 104]
16.5 - 4 Dahl Friction in Flexible Body Models [Seite 106]
16.6 - 5 Conclusions [Seite 107]
16.7 - Acknowledgments [Seite 107]
16.8 - References [Seite 107]
17 - 12 Mechanics of Mobile Robots with Mecanum Wheels [Seite 109]
17.1 - Abstract [Seite 109]
17.2 - 1 Introduction [Seite 109]
17.3 - 2 Kinematics of a Mecanum Wheel [Seite 111]
17.4 - 3 Dynamic Equations [Seite 113]
17.5 - 4 Optimization of Driving Torques [Seite 114]
17.6 - 5 Conclusion [Seite 116]
17.7 - Acknowledgments [Seite 116]
17.8 - References [Seite 116]
18 - 13 Design of Partially Balanced 5R Planar Manipulators with Reduced Center of Mass Acceleration (RCMA) [Seite 118]
18.1 - Abstract [Seite 118]
18.2 - 1 Introduction [Seite 118]
18.3 - 2 Shaking Force Balancing [Seite 120]
18.3.1 - 2.1 Reaching Similar Accelerations of the End-Effector of the 5R Planar Parallel Manipulator and Its Common Center of Mass [Seite 121]
18.3.2 - 2.2 Optimal Control of the Acceleration of the End-Effector of the 5R Planar Manipulator [Seite 122]
18.4 - 3 Illustrative Example [Seite 123]
18.5 - 4 Conclusions [Seite 126]
18.6 - References [Seite 127]
19 - An Alternative Approach to the Dynamics Analysis of Closed-Loop Mechanisms [Seite 128]
19.1 - 1 Introduction [Seite 128]
19.2 - 2 Displacement and Kinematic Relations [Seite 129]
19.3 - 3 Dynamics Analysis Based on the NOC [Seite 131]
19.3.1 - 3.1 The Mathematical Model of the Mechanism [Seite 131]
19.3.2 - 3.2 Derivation of the Twist-Shaping Relations [Seite 132]
19.4 - 4 Simulation Results [Seite 134]
19.5 - 5 Conclusions [Seite 135]
19.6 - References [Seite 136]
20 - 15 Lagrangian Based Dynamic Analyses of Delta Robots with Serial-Parallel Architecture [Seite 137]
20.1 - Abstract [Seite 137]
20.2 - 1 Introduction [Seite 137]
20.3 - 2 Geometric Relations [Seite 139]
20.4 - 3 Kinematic Analyses [Seite 140]
20.5 - 4 Dynamic Analyses [Seite 141]
20.6 - 5 Results [Seite 143]
20.7 - 6 Conclusion [Seite 145]
20.8 - References [Seite 145]
21 - Control and Perception of Robots [Seite 146]
22 - Adaptive Model Predictive Control Design for Underactuated Multibody Systems with Uncertain Parameters [Seite 147]
22.1 - 1 Introduction [Seite 147]
22.2 - 2 Constrained Adaptive Nonlinear Control [Seite 148]
22.2.1 - 2.1 Feedback Linearization [Seite 148]
22.2.2 - 2.2 Model Predictive Control [Seite 149]
22.2.3 - 2.3 Variable Constraint Mapping [Seite 149]
22.2.4 - 2.4 Adaptive Control Using Unscented Kalman Filter [Seite 150]
22.3 - 3 Fuzzy Uncertainty Analysis [Seite 151]
22.4 - 4 Application: Underactuated Manipulator with Passive Joint [Seite 152]
22.5 - 5 Conclusion [Seite 153]
22.6 - References [Seite 154]
23 - Control and Experiments with Energy-Saving SCARA Robots [Seite 155]
23.1 - 1 Introduction [Seite 155]
23.2 - 2 Design and Control of Energy Saving Manipulator [Seite 156]
23.2.1 - 2.1 Design of Energy Saving Manipulator [Seite 157]
23.2.2 - 2.2 Control of Energy Saving Manipulator [Seite 158]
23.3 - 3 A Prototype 2DOF Manipulator and Experimental Results [Seite 159]
23.4 - 4 Conclusions [Seite 162]
23.5 - References [Seite 162]
24 - Control Design for Pneumatic Manipulation Robot [Seite 164]
24.1 - 1 Manipulator ManGo [Seite 165]
24.2 - 2 Control System [Seite 165]
24.2.1 - 2.1 Control Structure in Matlab [Seite 166]
24.2.2 - 2.2 Machine Vision [Seite 166]
24.3 - 3 Experiments [Seite 169]
24.4 - 4 Conclusion [Seite 170]
24.5 - References [Seite 171]
25 - Adaptive Edge Features Estimation for Humanoid Robot Visual Perception [Seite 172]
25.1 - 1 Instruction [Seite 172]
25.2 - 2 Related Works [Seite 173]
25.3 - 3 Adaptive Straight Line Split [Seite 174]
25.4 - 4 Experimental Results [Seite 176]
25.5 - 5 Conclusion and Future Works [Seite 177]
25.6 - References [Seite 178]
26 - Disturbance Rejection Controller for Biped Walking Using Real-Time ZMP Regulation [Seite 179]
26.1 - 1 Introduction [Seite 180]
26.2 - 2 ZMP Regulation [Seite 180]
26.2.1 - 2.1 ZMP Modification [Seite 181]
26.2.2 - 2.2 Foot Placement with ZMP Increment [Seite 183]
26.3 - 3 Modification of CoM Trajectory [Seite 184]
26.4 - 4 Simulations and Experiments [Seite 184]
26.4.1 - 4.1 Simulations [Seite 184]
26.4.2 - 4.2 Experiments [Seite 187]
26.5 - 5 Conclusion [Seite 187]
26.6 - References [Seite 187]
27 - Novel Robot Design [Seite 189]
28 - Human-Powered Robotics---Concept and One-DOF Prototype [Seite 190]
28.1 - 1 Introduction [Seite 190]
28.1.1 - 1.1 Background and Research Purpose [Seite 190]
28.1.2 - 1.2 Relevant Studies [Seite 191]
28.2 - 2 Design and Principle of Operation [Seite 192]
28.3 - 3 Controller [Seite 193]
28.4 - 4 Experimental Results [Seite 194]
28.5 - 5 Conclusions and Future Work [Seite 196]
28.6 - References [Seite 196]
29 - 22 Gripping Tests on an Underactuated Self-adapting Hand Prototype [Seite 198]
29.1 - Abstract [Seite 198]
29.2 - 1 Introduction [Seite 198]
29.3 - 2 The Design of the Hand [Seite 200]
29.4 - 3 Gripping Tests on the Prototype [Seite 202]
29.5 - 4 Conclusions [Seite 204]
29.6 - References [Seite 204]
30 - Combined Structural and Dimensional Synthesis of Serial Robot Manipulators [Seite 206]
30.1 - 1 Introduction [Seite 206]
30.2 - 2 Generation of Suitable Architectures and Extraction of the Optimisation Parameters [Seite 207]
30.3 - 3 Kinematics Modelling [Seite 209]
30.4 - 4 Optimisation Procedure [Seite 210]
30.4.1 - 4.1 Performance Indices [Seite 211]
30.4.2 - 4.2 Optimisation Problem [Seite 211]
30.5 - 5 Exemplary Results [Seite 212]
30.6 - 6 Conclusions [Seite 213]
30.7 - References [Seite 214]
31 - Development of the Acroboter Service Robot Platform [Seite 216]
31.1 - 1 Introduction [Seite 216]
31.2 - 2 Concept of the Structural Design [Seite 217]
31.3 - 3 Dynamic Modelling Approach [Seite 218]
31.4 - 4 Control Issues [Seite 219]
31.4.1 - 4.1 Singularities [Seite 219]
31.4.2 - 4.2 Underactuation [Seite 220]
31.4.3 - 4.3 Redundancy [Seite 220]
31.4.4 - 4.4 Control Algorithm [Seite 221]
31.5 - 5 Summary [Seite 222]
31.6 - References [Seite 222]
32 - The Inversion of Motion of Bristle Bots: Analytical and Experimental Analysis [Seite 224]
32.1 - 1 Introduction [Seite 224]
32.2 - 2 Setting, Modelling, and Analysis [Seite 225]
32.3 - 3 Experiments [Seite 229]
32.4 - 4 Conclusions and Outlook [Seite 231]
32.5 - References [Seite 231]
33 - Design of a Compliant Environmentally Interactive Snake-Like Manipulator [Seite 232]
33.1 - 1 Introduction [Seite 232]
33.2 - 2 Methods [Seite 233]
33.2.1 - 2.1 The Compliant Joint [Seite 233]
33.2.2 - 2.2 Pseudo Rigid Body Modelling [Seite 234]
33.2.3 - 2.3 Finite Element Analysis [Seite 235]
33.2.4 - 2.4 Optimization [Seite 235]
33.2.5 - 2.5 Prototype [Seite 235]
33.3 - 3 Experiments [Seite 236]
33.3.1 - 3.1 Conditions [Seite 236]
33.3.2 - 3.2 Results [Seite 237]
33.3.3 - 3.3 Discussion [Seite 237]
33.4 - 4 Conclusion [Seite 238]
33.5 - References [Seite 239]
34 - Humanoid Robots [Seite 240]
35 - 27 Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human [Seite 241]
35.1 - Abstract [Seite 241]
35.2 - 1 Introduction [Seite 242]
35.3 - 2 Knee Joint Mechanism Coping with Both Active Pushing-off and Joint Stiffness [Seite 243]
35.3.1 - 2.1 Joint Requirements for Running [Seite 243]
35.3.2 - 2.2 Design of Knee Joint Mechanism [Seite 243]
35.3.3 - 2.3 Design of CFRP Leaf Spring [Seite 245]
35.3.4 - 2.4 A Bipedal Robot with the Developed Joint Mechanism [Seite 246]
35.4 - 3 Evaluation of the Developed Joint Mechanism [Seite 246]
35.4.1 - 3.1 Evaluation of CFRP Leaf Spring [Seite 246]
35.4.2 - 3.2 Hopping with an Active Pushing-off and Joint Stiffness [Seite 247]
35.5 - 4 Conclusion [Seite 248]
35.6 - Acknowledgements [Seite 248]
35.7 - References [Seite 248]
36 - Design of a Dexterous Hand for a Multi-hand Task [Seite 249]
36.1 - 1 Introduction [Seite 249]
36.2 - 2 In-Hand Manipulation and Dexterity [Seite 250]
36.3 - 3 Dexterous Hand Design Methodology [Seite 250]
36.4 - 4 Orange Peeler Hand [Seite 251]
36.4.1 - 4.1 Motivation [Seite 251]
36.4.2 - 4.2 Task Definition [Seite 251]
36.4.3 - 4.3 Structural Synthesis [Seite 252]
36.4.4 - 4.4 Dimensional Synthesis [Seite 253]
36.5 - 5 Results and Implementation [Seite 254]
36.6 - 6 Conclusions [Seite 255]
36.7 - References [Seite 255]
37 - Facial Expression Design for the Saxophone Player Robot WAS-4 [Seite 257]
37.1 - 1 Introduction [Seite 258]
37.2 - 2 Humanoid Saxophonist Player Robot WAS-4 [Seite 259]
37.3 - 3 Method [Seite 260]
37.3.1 - 3.1 Design and Development of the Facial Expressions Mechanism [Seite 260]
37.3.2 - 3.2 Facial Expression During Saxophone Performance [Seite 260]
37.3.3 - 3.3 Mechanical Movement Specifications [Seite 261]
37.3.4 - 3.4 Design of the Eyebrows and Eyelids Mechanisms [Seite 262]
37.4 - 4 Experiments and Results [Seite 262]
37.5 - 5 Conclusions [Seite 263]
37.6 - References [Seite 264]
38 - 30 Disturbance Force Generator for Biped Robots [Seite 265]
38.1 - Abstract [Seite 265]
38.2 - 1 Introduction [Seite 266]
38.3 - 2 Mechanical Structure of Disturbance Force Generator [Seite 266]
38.3.1 - 2.1 Preliminary Analysis [Seite 266]
38.3.2 - 2.2 Mechanical Design [Seite 266]
38.4 - 3 Control System for Disturbance Force Generator [Seite 268]
38.5 - 4 Experimental Tests and Consideration [Seite 269]
38.6 - 5 Conclusions [Seite 271]
38.7 - Acknowledgments [Seite 271]
38.8 - References [Seite 271]
39 - 31 LARMbot: A New Humanoid Robot with Parallel Mechanisms [Seite 273]
39.1 - Abstract [Seite 273]
39.2 - 1 Introduction [Seite 273]
39.3 - 2 Parallel Architectures in Human Anatomy [Seite 274]
39.4 - 3 The LARMbot [Seite 275]
39.5 - 4 Prototype and Testing [Seite 277]
39.6 - 5 Conclusions [Seite 280]
39.7 - References [Seite 280]
40 - Human-Inspired Humanoid Balancing and Posture Control in Frontal Plane [Seite 282]
40.1 - 1 Introduction [Seite 282]
40.2 - 2 Generalization of DEC Concept to Frontal Plane [Seite 284]
40.2.1 - 2.1 The DEC Concept [Seite 284]
40.2.2 - 2.2 Lower Body Kinematics [Seite 285]
40.3 - 3 Experiments [Seite 286]
40.4 - 4 Results [Seite 287]
40.5 - 5 Conclusion and Future Work [Seite 288]
40.6 - References [Seite 288]
41 - Compliant Actuator Dedicated for Humanoidal Robot---Design Concept [Seite 290]
41.1 - 1 Introduction [Seite 290]
41.2 - 2 Design Considerations on Elastic Actuators [Seite 291]
41.2.1 - 2.1 Parameters Selection [Seite 292]
41.3 - 3 Simulation Research [Seite 293]
41.3.1 - 3.1 Control System [Seite 293]
41.3.2 - 3.2 Developed Model [Seite 294]
41.3.3 - 3.3 Results [Seite 294]
41.4 - 4 Conclusion and Future Works [Seite 295]
41.5 - References [Seite 296]
42 - Service Robots [Seite 298]
43 - Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation [Seite 299]
43.1 - 1 Introduction [Seite 300]
43.2 - 2 Conceptual Design [Seite 301]
43.2.1 - 2.1 Design Specification [Seite 301]
43.2.2 - 2.2 Parallel Robot with 2T2R Degree of Freedom [Seite 301]
43.3 - 3 Kinematic Analysis of the 3UPS-RPU Parallel Robot [Seite 302]
43.4 - 4 Workspace Analysis [Seite 304]
43.5 - 5 Conclusion [Seite 305]
43.6 - References [Seite 305]
44 - 35 End-Effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder [Seite 307]
44.1 - Abstract [Seite 307]
44.2 - 1 Introduction [Seite 308]
44.3 - 2 Development of End-Effector [Seite 309]
44.4 - 3 Calculating the Angle of Each Joint [Seite 311]
44.5 - 4 Experiments [Seite 312]
44.6 - 5 Conclusions and Future Works [Seite 314]
44.7 - Acknowledgments [Seite 314]
44.8 - References [Seite 315]
45 - Design of a Tendon-Drive Manipulator for Positioning a Probe of a Cooperative Robot System for Fault Diagnosis of Solar Panels at Mega Solar Power Plant [Seite 316]
45.1 - 1 Introduction [Seite 316]
45.2 - 2 On-Site Inspection for Detecting a Broken Cell [Seite 317]
45.3 - 3 Workspace of the Tendon-Drive Parallel Manipulator [Seite 319]
45.4 - 4 Design of a Robot Based on Vector-Closure [Seite 321]
45.5 - 5 Conclusion [Seite 323]
45.6 - References [Seite 323]
46 - 37 Physical Human-Robot Interaction: Increasing Safety by Robot Arm's Posture Optimization [Seite 324]
46.1 - Abstract [Seite 324]
46.2 - 1 Introduction [Seite 324]
46.3 - 2 Null Space Concept in Redundant Robot Arm Kinematics [Seite 326]
46.4 - 3 Control Design for the Redundant Robot [Seite 326]
46.5 - 4 Posture Optimization for the Static Impact Force Minimization [Seite 328]
46.6 - 5 Simulation Test Results [Seite 329]
46.7 - 6 Conclusions [Seite 331]
46.8 - Acknowledgments [Seite 331]
46.9 - References [Seite 331]
47 - Medical Devices [Seite 333]
48 - 38 Assessing the Orbital Stability for Walking with Four Prosthetic Feet at Different Speeds [Seite 334]
48.1 - Abstract [Seite 334]
48.2 - 1 Introduction [Seite 334]
48.3 - 2 The 2-D Model and Basic Terminology of Human Walking [Seite 335]
48.4 - 3 Methods [Seite 336]
48.5 - 4 Simulation and Results [Seite 338]
48.5.1 - 4.1 Investigating Joint Kinematics by Phase Plane Portraits [Seite 338]
48.5.2 - 4.2 Investigating First Return Points by Poincaré Maps [Seite 340]
48.5.3 - 4.3 Assessing the Orbital Stability by FM [Seite 340]
48.6 - 5 Conclusions [Seite 341]
48.7 - Acknowledgements [Seite 341]
48.8 - References [Seite 341]
49 - 39 Development of Rotary Type Movers Discretely Interacting with Supporting Surface and Problems of Control Their Movement [Seite 343]
49.1 - Abstract [Seite 343]
49.2 - 1 Introduction [Seite 343]
49.3 - 2 Statement of the Problems [Seite 345]
49.3.1 - 2.1 Rotary-Orthogonal Mover [Seite 346]
49.3.2 - 2.2 Rotary-Pie Mover [Seite 347]
49.4 - 3 Mathematical Model of Walking Machine Motion Dynamics with Rotary-Orthogonal Movers [Seite 347]
49.5 - 4 Design Scheme and Quasi-static Mathematical Model of Rotary-Pie Mover When Overcoming the Ledge [Seite 349]
49.6 - 5 Conclusion [Seite 350]
49.7 - References [Seite 351]
50 - 40 Parameter Optimization for Exoskeleton Control System Using Sobol Sequences [Seite 352]
50.1 - Abstract [Seite 352]
50.2 - 1 Introduction [Seite 352]
50.3 - 2 Model of an Exoskeleton Performing Verticalization [Seite 353]
50.4 - 3 Control System [Seite 354]
50.5 - 4 Conclusion [Seite 358]
50.6 - Acknowledgments [Seite 358]
50.7 - References [Seite 359]
51 - 41 Study of RE-Gait® as the Device That Promotes Walking Using a Two-Dimensional Emotion Map [Seite 360]
51.1 - Abstract [Seite 360]
51.2 - 1 Introduction [Seite 361]
51.3 - 2 Walking Assistance Apparatus for the Promotion of Exercise [Seite 361]
51.4 - 3 Walking Promotion Experiment Using a Two-Dimensional Emotion Map [Seite 363]
51.5 - 4 Conclusions [Seite 367]
51.6 - References [Seite 367]
52 - Developement of Road Condition Categorizing System for Manual Wheelchair Using Mahalanobis Distance [Seite 368]
52.1 - 1 Introduction [Seite 368]
52.2 - 2 Road Disturbances for Wheelchair Users [Seite 369]
52.3 - 3 Wheelchair-Type Road Surface Inspection System [Seite 370]
52.4 - 4 Characteristics of Time Series Handrim Torque [Seite 370]
52.5 - 5 Unit Space and Mahalanobis Distance [Seite 372]
52.6 - 6 Measurement and Calculation [Seite 372]
52.7 - 7 Conclusion [Seite 375]
52.8 - References [Seite 375]
53 - Control of a Self-adjusting Lower Limb Exoskeleton for Knee Assistance [Seite 376]
53.1 - 1 Introduction [Seite 376]
53.2 - 2 Mechanical Design [Seite 377]
53.3 - 3 Control of the System [Seite 379]
53.4 - 4 Experimental Result [Seite 381]
53.5 - 5 Conclusion [Seite 382]
53.6 - References [Seite 382]
54 - Innovations and Applications [Seite 384]
55 - 44 Pilot Experiments with the Human-Friendly Walking Assisting Robot Vehicle (hWALK) [Seite 385]
55.1 - Abstract [Seite 385]
55.2 - 1 Introduction [Seite 385]
55.3 - 2 Human-Friendly Walking Assisting Robot Vehicle [Seite 387]
55.4 - 3 Experiments and Results [Seite 389]
55.5 - 4 Conclusions [Seite 391]
55.6 - References [Seite 392]
56 - 45 Conceptual Design of a Cable Driven Parallel Mechanism for Planar Earthquake Simulation [Seite 393]
56.1 - Abstract [Seite 393]
56.2 - 1 Introduction [Seite 394]
56.3 - 2 Composition of the Planar Earthquake Simulator [Seite 395]
56.4 - 3 Dynamic Simulation [Seite 396]
56.5 - 4 Simulator Prototype [Seite 400]
56.6 - 5 Conclusions [Seite 400]
56.7 - References [Seite 401]
57 - Comparison of Dynamic Properties of Two KUKA Lightweight Robots [Seite 402]
57.1 - 1 Introduction [Seite 402]
57.2 - 2 Model [Seite 403]
57.2.1 - 2.1 Algorithm Formulation [Seite 404]
57.2.2 - 2.2 Algorithmic Steps [Seite 405]
57.3 - 3 Measurements [Seite 405]
57.4 - 4 Results [Seite 406]
57.5 - 5 Conclusions [Seite 408]
57.6 - References [Seite 409]
58 - 47 Comparison of Serial and Quasi-Serial Industrial Robots for Isotropic Tasks [Seite 410]
58.1 - Abstract [Seite 410]
58.2 - 1 Introduction [Seite 410]
58.3 - 2 Motivation Example [Seite 412]
58.4 - 3 Performance Measure for Manipulator Accuracy Evaluation [Seite 413]
58.5 - 4 Comparison of Serial and Quasi-Serial Architectures [Seite 414]
58.6 - 5 Conclusion [Seite 417]
58.7 - References [Seite 417]
59 - On the Dynamics and Emergency Stop Behavior of Cable-Driven Parallel Robots [Seite 419]
59.1 - 1 Introduction [Seite 419]
59.2 - 2 The Cable Robots at EXPO 2015 [Seite 421]
59.3 - 3 System Model [Seite 422]
59.3.1 - 3.1 Kinematics [Seite 422]
59.3.2 - 3.2 Cable Tension Modeling [Seite 422]
59.3.3 - 3.3 Dynamics [Seite 423]
59.4 - 4 Emergency Stop Behavior and Model Validation [Seite 423]
59.5 - 5 Conclusions [Seite 425]
59.6 - References [Seite 425]
60 - 49 Automatic Robot Taping: Strategy and Enhancement [Seite 427]
60.1 - Abstract [Seite 427]
60.2 - 1 Introduction [Seite 428]
60.3 - 2 Taping Path Planning Strategy [Seite 429]
60.3.1 - 2.1 Surface Area Taping Strategy [Seite 430]
60.3.2 - 2.2 Modeling of the Taping Process [Seite 430]
60.4 - 3 Automation of a Robot Tapping System [Seite 432]
60.5 - 4 Execution of the Taping Process [Seite 433]
60.6 - 5 Conclusion and Discussion [Seite 434]
60.7 - Acknowledgments [Seite 435]
60.8 - References [Seite 435]