ROMANSY 16 Robot Design, Dynamics and Control [Paperback]

The aim of this publication is to present the research results in robotics that are now state-of-the-art, and indicate the possible future lines of development. To effectively work and cooperate with us, robots must exhibit abilities that are comparable to those of humans. The book describes the ongoing efforts to design and develop human-friendly robotic systems that can safely and effectively interact and work with humans.

Keynote Lectures.- Humanoid Robotics, Culture and Society of Japan.- The Human Frontier: Robotics New Quest and Challenge.- Standardization: A Logical Step in Sustained Space Exploration.- Robot design.- Design and Singularity Criteria of Parallel Manipulators.- L-legs for the Design of Mini and Micro Parallel Compliant Mechanisms.- A singularity free parallel robotic mechanism for aiming antennas and cameras.- Virtual Prototyping of a New Parallel Robot for Milling.- A New Approach for the evaluation of kinematic and static performances of a family of 3-UPU translational manipulators.- Geometric Configuration in Robot Kinematic Design.- Mechanism Performance.- Improvement of Positioning Accuracy of PAMINSA (Parallel Manipulator of the I.N.S.A.).- The Impact of Friction on the Dynamics of Parallel Robotic Manipulators.- Dynamics Aspects of Parallel Anthropomorphic Robots.- Workspace Comparison of Kinematically Redundant Planar Parallel Manipulators.- Dexterity Analysis of Planar Parallel Manipulators.- Stiffness experimental monitoring for WL-16RII Biped Locomotor during walking.- Estimation of Leg Stiffness Parameters of a 6DOF Parallel Mechanism.- Invariant Error Dynamics Controller for a 6-dof Electrohydraulic Stewart Platform.- Motion Planning and Synthesis.- Hyperbolic-linear, Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators.- Local Variation Method to Determine Cheap Path for Nonholonomic Systems.- Nonlinearity detection and reduction based on unnormalized quasi-velocities.- Motiol#-