Advances in Robot Design and Intelligent Control: Proceedings of the 25th Conference on Robotics in Alpe-Adria-Danube Region (RAAD16)

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Aleksandar Rodić, Theodor Borangiu
Springer, Nov 26, 2016 - Technology & Engineering - 649 pages
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This book presents the proceedings of the 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 held in Belgrade, Serbia, on June 30th–July 2nd, 2016. In keeping with the tradition of the event, RAAD 2016 covered all the important areas of research and innovation in new robot designs and intelligent robot control, with papers including Intelligent robot motion control; Robot vision and sensory processing; Novel design of robot manipulators and grippers; Robot applications in manufacturing and services; Autonomous systems, humanoid and walking robots; Human–robot interaction and collaboration; Cognitive robots and emotional intelligence; Medical, human-assistive robots and prosthetic design; Robots in construction and arts, and Evolution, education, legal and social issues of robotics. For the first time in RAAD history, the themes cloud robots, legal and ethical issues in robotics as well as robots in arts were included in the technical program. The book is a valuable resource for researchers in fields of robotics, engineers who implement robotic solutions in manufacturing, services and healthcare, and master’s and Ph.D. students working on robotics projects.

 

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Contents

Kinematic Control of Redundant Robots in Changing Task Space
3
Robot ForcePosition Control Combined with ILC for Repetitive High Speed Applications
12
Learning Coaching and Force Vs Position Feedback
20
Ddecomposition Approach
29
Virtual Compliance Control of a Kinematically Redundant Serial Manipulator with 9 DoF
38
On the Vibration Control of a Flexible Metallic Beam Handled by an Industrial Robot Within an ARXBased Synthetic Environment
47
Minimal Energy Cartesian Impedance Control of Robot with Bidirectional Antagonistic Drives
56
Robot Vision and Sensory Processing
65
ApplicationDriven CloudBased Control of Smart Multirobot Store Scenario
347
HumanRobot Interaction and Collaboration
358
Realisation of an Experimental Cooperative Workplace for Assembly Tasks
361
Multilevel HumanMachineInteraction Monitoring and System Reconfiguration
370
GazeBased HumanSmartHomeInteraction by Augmented Reality Controls
378
Toward an Active Protection for Robot Arms
386
A Comparison Study
394
Cognitive Robots and Emotional Intelligence
402

Robotic 3D Surface Laser Scanning for FeatureBased Quality Control in Holonic Manufacturing
67
Design and Shape Optimization of Novel Load Cell
80
3Axis Contact Force Fingertip Sensor Based on Hall Effect Sensor
88
One Approach to Detection and Extraction of OnRoad Obstacles Based on Image Processing
96
Development and Implementation of Orthogonal Planes Images Method for Calibration of Tool Centre Point
105
Novel Design of Robot Manipulators and Grippers
116
Design Construction and Testing of a Gripper for Horticulture Products
119
A RealTime Serial Approach for Solving the Forward Kinematic Model of Spherical Parallel Manipulators
128
Computer Simulation of Bounded Error Algorithm for Iterative Learning Control
136
Dynamical Modeling and SwingUp Control of a Selfbalancing Cube
144
A Synthesis of a Six Bar Mechanism with Nonlinear Stiffness for Prismatic Compliant Joint
152
About the Accuracy of Fast Moving Robotic Devices Based on Compliant Mechanisms
162
Inverse Kinematics of Six DOF Three Limbed Parallel Manipulator
171
The Variable Position of the Loads Centre of Mass Relative to the Loads Hanging Point of the CPR System
179
Design Modelling and Prototyping of a Mechanical Hand for Prosthetic Purposes
188
Multibody Model to Evaluate Quality Grasping of an Underactuated Mechanical Finger
198
Robot Applications in Manufacturing and Services
208
Multiagent Solution for Automated Part Supply in Robotized Holonic Manufacturing
211
Robot Programming with Flexible Geometric Relations
219
Improvement of a Robotic System for Spring End Treatment Through Plasma Cutting
229
Calibration of a Robotized Bending System
235
Requirements and Constraints for a Robotized Roll Hemming Solution
244
Weed Segmentation from Grayscale Tobacco Seedling Images
252
Human Energy Consumption During Harvesting of Saffron Flowers
259
Possibilities of Applying Robotic Systems and Smart Sensor Networks in Integrated Agricultural Apple Production
269
Autonomous Systems Humanoid and Walking Robots
282
Model of the Human Arm Stiffness Exerted by Two Antagoniste Muscles
285
Experimental Characterization of Human Walking on Stairs Applied to Humanoid Dynamics
293
Path Planning for Formation Control of Autonomous Vehicles
302
Developing a Climbing Maintenance Robot for Tower and Rotor Blade Service of Wind Turbines
310
Optimized Leg Proportion to Enhance Rough Terrain Mobility of a Biomimetic Walking Robot
320
Orientation and Depth Control in Rippling Water for an Autonomous Underwater Robot
328
VisionGuided Autonomous Forklift
338
Effect of Sequence Order on Autonomous Robotic Database Expansion
405
Action Unit Based Facial Expression Recognition Using Deep Learning
413
Fast Setup and Adaptation of Industrial Assembly Tasks with ForceBased Exception Strategies
421
Movement Recognition and Cooperative Task Synthesis Through Hierarchical Database Search
430
Embodiment of Human Personality with EIRobots by Mapping Behaviour Traits from LiveModel
438
From Pioneering Works to EEGBased Emulation of Digital Circuits
449
Medical HumanAssistive Robots and Prosthetic Design
463
Analysis of the Static Stability for an Electric StairClimbing Wheelchair
464
Motion Control Algorithm for Exoskeleton Push Recovery in the Frontal Plane
474
Mechanical Design of a Prosthetic Human Arm and its Dynamic Simulation
482
Pilot Evaluation
491
Prospects of Robotics Development for Restorative Medicine
499
A Method for Adjusting Moment Input on an Exoskeleton Robot with Fixed Linear Actuators
507
Planning of Needle Insertion for RoboticAssisted Prostate Biopsy in Augmented Reality Using RGBD Camera
515
Development of a Conceptual Model for WristForearm Rehabilitation Robot with Two Degrees of Freedom
523
Influence of an Assistive Hip Orthosis on Gait
531
Robots in Construction and Arts
541
Why Does Architecture Need to Move? The Role of Integrated Technical Systems in Architecture
543
Design of Modular Reconfigurable Robotic System for Construction and Digital Fabrication
550
ModelBased Development of Robotic Systems and Services in Construction Robotics
560
Fabrication of Digital Anamorphic Sculptures with Industrial Robot
568
Control and Structural Concepts for a Reconfigurable Building
576
OnSite Robotic Construction Assistance for Assembly Using APriori Knowledge and HumanRobot Collaboration
583
Artistic Design of the Customized Robot with Environmental Social and Cultural Impacts to Human Society
593
Evolution Education Legal and Social Issues of Robotics
603
Legal Issues for Mobile Servant Robots
604
The Origin and Beyond
613
Development of Virtual Laboratory for Mechatronic Systems
622
The Impact of the Past
631
Building Remote Lab for Robot SLAM Algorithm Testing
640
Author Index
646
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