CISM COURSES AND LECTURES Series Editors: The Rectors Manuel Garcia Velarde -Madrid Mahir Sayir-Zurich Wilhelm Schneider-Wien The Secretary General Bernard Schrefler-Padua Former Secretary General Giovanni Bianchi -Milan Executive Editor Carlo Tasso - Udine The series presents lecture notes, monographs, edited works and proceedings in the 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. INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES COURSES AND LECTURES-No. 438 ROMANSY 14 THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS PROCEEDINGS OF THE FOURTEENTH CISM-IFToMM SYMPOSIUM EDITED BY GIOVANNI BIANCHI POLYTECHNIC OF MILAN JEAN-CLAUDE GUINOT UNIVERSITE PIERRE et MARIE CURIE, PARIS CEZARY RZYMKOWSKI WARSAW UNNERSITY OF TECHNOLOGY ~ Springer-Verlag Wien GmbH This volume contains 410 illustrations This work is subject to copyright All rights are reserved, whether the whole or part oft he material is concerned specifically those of translation, reprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks. © 2002 by Springer-Verlag Wien Originally published by Springer-Verlag Wien New York in 2002 Softcover reprint of the hardcover 1st edition 2002 SPIN I 0885402 In order to make this volume available as economically and as rapidly as possible the authors' typescripts have been reproduced in their original forms, This method unfortunately has its typographical limitations but it is hoped that they in no way distract the reader. ISBN 978-3-7091-2554-0 ISBN 978-3-7091-2552-6 (eBook) DOI 10.1007/978-3-7091-2552-6 PREFACE For almost thirty years the biennial Ro.Man.Sy Symposia, organized jointly by CISM and IFToMM, have played a dynamic role in the development of the theory and practice of robotics. They are, traditionally, limited gatherings that encourage informal discussion and focus on the problems ofm echanics, while not neglecting other perspectives. In this framework the topics are: mechanics, motion control, sensing and programming, synthesis and design, applications, legged locomotion, and biomechanical aspects. The term robotics is understood to also include locomotion systems, exoskeletal and prosthetic devices, and, more generally, all robotized systems. Ro.Man.Sy 2002, which took place July 1-4 in Udine, Italy, was enriched with three keynote lectures, given by Manfred Hiller, Hendrik Van Brussel and Atuso Takanishi, who discussed new trends in applications and methodology. This fourteenth Symposium was the first to be held without Adam Morecki, perhaps more than anyone else responsible for the success of Ro.Man.Sy across the years. With the characteristic energy that he dedicated to all his undertakings, Adam contributed his scientific preparation and organizational competence to help make these meetings a unique occasion for the updating and exchange of the latest developments in the field. His personal warmth and generosity added a fUrther dimension, stimulating the steady consolidation of contacts and collaboration on a world scale. In the Memorial Session opening the Symposium, Krzysztof K~dzior recalled the long and fruitful scientific activity of Professor Morecki. A paper by Miomir Vukobratovic illustrated the international importance of his organizational work is included into the Proceedings. With enduring affection and gratitude this volume is dedicated to Adam Morecki. Giovanni Bianchi Jean-Claude Guinot Cezary Rzymkowski CONTENTS Page Preface ADAM MORECKI MEMORIAL SESSION In Memory of Professor Adam Morecki by K K~dzior, C. Rzymkowski and M Vukobratovic ............................................................. XIII KEYNOTE LECTURES Virtual Prototyping of the Combined Wheeled and Legged Robot ALDURO by M Hiller................................................................................................................................ 3 From Industrial to Service Robots, an Important Paradigm Shift by H Van Brussel ......................................... : ............................................................................ 5 Humanoid Robotics: New Trend in Robot Research and Industry in Japan by A. Takanishi ........................................................................................................................... 7 CHAPTER 1: Mechanics Contributions to the Modelling of Human Joints by C. Brisan and M Hiller ........ .. .. .. ............. .. .. .. .. .... ..... .. .. ....... ..... .. .. .. .. .. .. .. .. ... .. .. .. .. .. .. .... .... .. . 11 Mathematical Characterization ofthe Workspace of a 6-DOF Parallel Robot for Reverse Engineering by E. Castillo-Castaiieda, A. Simchez-Flores and C. Lopez-Cajun.......................................... 21 Geometric Errors Versus Calibration in Manipulators with Less that 6 DOF by R. Di Gregorio and V. Parenti-Castelli............................................................................... 31 Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism by A. Frisoli and M Bergamasco ............................................................................................. 39 Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom by T. Geike and J. McPhee ....................................................................................................... 49 Neighboring Special Configurations of Parallel Manipulators by V. Glazunov, A. Kraynev, G. Rashoyan, R. Bykov and N. Novikova ............................ ....... 59 Dynamic Equations of Parallel Robots in Minimal Dimensional Parameter-Linear Form by M Grotjahn, J. Kuhn, B. Heimann and H. Grendel............................................................ 67 Pose, Posture, Formation and Contortion in Kinematic Systems by J. Rooney and T.K. Tanev .................................................................................................... 77 Mises Derivatives of Motors and Motor Tensors by K. Wohlhart ......................................................................................................................... 87 CHAPTER II: Motion Control Control of the Omnidirectional Mobile Robot MARGe by H. Abdellatif, D. Weidemann, A. Michaelsen, M Grotjahn and B. Heimann .................... 101 Admittance Model Haptic Interaction for Large Workspace Teleoperation by F. Antoniazzi, P. Gallina, A. Gasparetto and G. Rosati.................................................... 109 A Self-tuning Fuzzy Robotic Force Controller by R. Bicker, Z. Hu and K. Burn............................................................................................ 119 Configuration Control of a Flexible Micro Robotic Arm for Catheter-type Microrobot by J. Foret, S. Boudjabbi, A. Ferreira and M De Mathelin................................................... 127 Design of a PID Controller for a Flexible Five-Bar Closed-Chain Planar Manipulator by P. Gallina, A. Gasparetto, G. Rosati and A. Rossi ......................................................... ;.. 141 Manipulation of Micro-objects using Adhesion Forces and Dynamical Effects in Unconstrained Environment by D. Haliyo, S. Regnier and J.C. Guinot .............................................................................. 151 Trajectory Tracking for Robot Manipulator Using Generalized Velocity Components by P. Herman and K Kozlowski ............................................................................................. 163 Advanced Control of Robot Compliance Tasks Using Hybrid Intelligent Paradigms by D. Katie and M Vukobratovic........................................................................................... 173 Digital Force Control in Rehabilitation Robotics by L.L. Kovacs and G. Stepan ................................... ............................................................. 181 Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation by D. Oetomo, MH Ang Jr., R. Jamisola and 0. Khatib ...................................................... 189 Computer Control of a Robot for Realization of a Smooth Motion by S. Panev and M Fayet ...................................................................................................... 201 Dynamic Emulation of Space Robot in One-g Environment using Hardware-in-the-Loop Simulation by J.-C. Piedbreuf, F. Aghili, M Doyon and E. Martin .......................................................... 213 Path Planning Algorithm Among Obstacles by Considering a Manipulability Index by F. Valero, V. MataandF. Rubio ...................................................................................... 231 Adaptive Excitation of a Spring Motion of an Object Across Plane Obstacles by J. Viba, L Tipans, B. Grasmanis and J.-G. Fontaine ......................................................... 241 How to Apply Hybrid Position/Force Control to Robots Interacting with Dynamic Environment by M VukobratoviC, Y. Ekalo and A. Rodic ......... .................................................................. 249 CHAPTER ill: Sensing and Programming A Catadioptric System for 3D Optical Measurements by M Dalla Valle, P. Gallina, A. Rossi and M Sonego ..................................................... ~ ... 261 Integration Policy for Critical Multi-layered Distributed Robotics Applications byP. Pomiers ......................................................................................................................... 271 A New Single Frame Pose Estimation Device for Robotics: Theory and Simulation Results by G. Rosati............................................................................................................................ 279 The Highest End 3D Transmission System for the Remote Control by K Tanaka and J. Takeno ................................................................................................... 289 Motion Generators in MRROC++ Based Robot Controllers by c. Zielinski......................................................................................................................... 299 CHAPTER IV: Synthesis and Design Development of an Anthropomorphic Talking Robot to Mechanically Produce Human Voices by K Nishikawa, A. Imai, T. Ogawara, H. Takanobu, T. Mochi and A. Takanishi................ 309 Evolutionary Optimization of Mechanical and Control Design Application to Active Endoscopes by Ph. Bidaud, F. Chapelle and G. Dumont........................................................................... 317 Experimental Validation and Tests of Operation Characteristics of a Parallel-Serial Manipulator by G. Carbone, G. Marini and M Ceccarelli......................................................................... 331 Design and Experimentation of Shape Memory Alloy Wire Bundle Actuators by K. J. DeLaurentis, J. Nikitczuk, A. Fisch and C. Mavroidis. ............................................ 339 3-DOF Planar Positioning-Orientation Mechanisms with Links and Large-Deflective Hinges by M Horie, S. Kubo and D. Kamiya ..................................................................................... 351 A Family ofNovel Orientational 3-DOF Parallel Robots by M Karouia and J. M Herve .............................................................................................. 359 Integrated Design and Analysis of a Novel ScMnflies-Motion Generator by A. Morozov, J. Angeles, L. AI Bassil and D. Basi.............................................................. 369 Telerobotic Device for Roadway Debris Vacuuming by A.A. Porterfield, T.R. Mincy, W.A. White, B.R. White and S.A. Velinsky .......................... 379 ROBIAN Hip Joint: Analysis, Design and Simulation by R. Sellaouti, A. Konno and F.B. Ouezdou.......................................................................... 387 Design of Linear Delta Robot: Compromise Between Manipulability and Workspace Size by M Stock and K. Miller. ................................................................................ , ..................... 397 On the Dimensional Synthesis of Spatial Four-and Five-Bar Linkage by L. Yi and T. Leinonen......................................................................................................... 407 CHAPTER V: Legged Locomotion On the Turn of Walking Machines with Moving Propellers Made on the Basis of Cycled Mechanisms by E.S. Briskin, V. V. Chernyshev, A. V. Maloletov, A. V. Teldekov and V. V. Zhoga ............. 423 Gait Generation and Mechatronic Design of Planar Walker byl-MingChenand S.H Yeo ............................................................................................... 431 Design and Realization of Jogging Johnnie by M Gienger, K. Lo.f/ler and F. Pfeiffer............................................................................... 445 Four DOF TORSO Dynamic Effects on Biped Walking Gait by B. Mohamed, F. Gravez, 0. Bruneau and F.B. Ouezdou .................................................. 453 Inverse Dynamics Power Saving Control of Walking Machines by S. Gruber and W. Schiehlen.................................. ............................................................. 463 Stabilization Walking Control for Human-like Biped Robots by H Lim, Y. Sugahara and A. Takanishi .............................................................................. 471 The Significance of Leg Mass in Modeling Quadrupedal Running Gaits by J. Schmiedeler, R. Sis ton, and K. Waldron........................................................................ 481 Using the Head to Stabilize a Quadrupedal Walker byJ. Villanova, P. Neveu andJ-P. Gasc ................................................................................ 489 Analysis of Quadruped LAVA Features: Speed, Energy Efficiency and Selected Motion Abilities by T. Zielifzska . .. .. .. .. . .. .. .. .. .. .. .. .. .. .. . .. .. .. .. .. .. .. .. .. .. .. . . . .. .. .. .. .. .. .. .. .. . .. .. .. .. . . .. .. .. .. .. .. .. . .. . .. .. .. .. .. . .. .. .. 499 Mathematical Model of Worm-like Motion Systems with Finite and Infinite Degree of Freedom by K. Zimmermann, I. Zeidis and J. Steigenberger ............... ................................................. 507 CHAPTER VI: Biomechanical Aspects Human-like Head Robot WE-3RV for Emotional Human-Robot Interaction by H Miwa, H Takanobu and A. Takanishi ....... ................................................. .................. 519 Force and Position Control of a SMA Actuated Endoscope by V. de Sars, J. Szewczyk and Ph. Bidaud ............................................................................ 527 Human Symbiotic Humanoid Robot with Whole-body Compliance by H Iwata, T. Morita and S. Sugano .................................................................................... 537 Patient Simulator for Mouth Opening and Closing Training by H Takanobu, K. Nakamura, A. Takanishi, K. Ohtsuki, M Ohnishi and A. Okino ........... 549