Advances in Service and Industrial Robotics

This volume contains the proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, held at the Polytechnic University of Turin, Italy, from June 21-23, 2017. The conference brought together academic and industrial researchers in robotics from 30 countries, the majority of them affiliated to the Alpe-Adria-Danube Region, and their worldwide partners. RAAD 2017 covered all major areas of R&D and innovation in robotics, including the latest research trends. The book provides an overview on the advances in service and industrial robotics. The topics are presented in a sequence starting from the classical robotic subjects, such as kinematics, dynamics, structures, control, and ending with the newest topics, like human-robot interaction and biomedical applications. Researchers involved in the robotic field will find this an extraordinary and up-to-date perspective on the state of the art in this area.

Inhalt

Robot kinematics and dynamics.- Comparative Analysis of Quasi-differential Approaches in Inverse Kinematics, by Bertalan Csanádi, János F. Bitó, Imre J. Rudas, József Tar.- A Novel Single-Loop Decoupled Schoenflies-Motion Generator: Concept and Kinematics Analysis, by Raffaele Di Gregorio.- A comparative study of three manipulator performance measures, by Vassilis Moulianitis, Eleftherios Katrantzis, Nikos Stravopodis, Nikos Aspragathos.- Analysis of constraint singularities of a 2-dof spatial parallel mechanism, by Stefano Mauro, Gabriele Biondi.- Central active mechanism for unmanned space docking , by Stefano Mauro, Tharek Mohtar, Stefano Pastorelli, Massimo Sorli.- On the mechatronic design of a low-cost 6-DoFs parallel kinematic manipulator, by Hermes Giberti, Enrico Fiore.- Behaviour-based Inverse Kinematics Solver on FPGA, by Alexander Köpper, Berns Karsten.- A novel reconfigurable 3-URU parallel platform, by Luca Carbonari, David Corinaldi, Matteo Palpacelli, Giacomo Palmieri,Massimo Callegari.- Mechatronic Design and Control of a 3-RPS Parallel Manipulator, by Giorgio Figliolini, Chiara Lanni, Rea Pierluigi, Tommaso Gallinelli.- Control, identification and calibration of robotic systems.- Force Analysis for the Impact Between a Rod and Granular Material, by Dorian Cojocaru, Dan Marghitu, Hamid Ghaednia, Memduh Arsalan.- Cooperative Distance Measurement for an Anti-aircraft Battery, by Karol Dobrovodský, Pavel Andris.- Collision Avoidance of Robots by Artificial Force Field around Geometric Primitives using two Range Image Sensors, by Christian Thormann, Alexander Winkler.- Using Compliancy for Autonomous Execution of Path Following Tasks, by Leon Zlajpah, Nejc Likar.- Study concerning a robotic system with Matlab/OpenCV post-processing, by Victor Constantin, Ciprian Ion Rizescu, Mihai Ciocan, Dana Rizescu.- Output Control of a Class of Hyper-redundant Robots, by Mircea Ivanescu, Mircea Nitulescu, Dong Hai Nguyen, Mihaela Florescu.- Using virtual sensors inindustrial manipulators for service algorithms like payload checking, by Marina Indri, Stefano Trapani.- Robust Motion Control of a Soft Robotic System Using Fractional Order Control, by Bastian Deutschmann, Christian Ott, Concepcion A. Monje, Carlos Balaguer.- FloBaRoID - A Software Package for the Identification of Robot Dynamics Parameters, by Stefan Bethge, Jörn Malzahn, Nikos Tsagarakis, Darwin Caldwell.- Implementation of a fractional-order control for robotic applications, by Luca Bruzzone, Vittorio Belotti, Pietro Fanghella.- Real-time Computation of Inexact Minimum-Energy Trajectories Using Parametric Sensitivities, by Alexander Reiter, Hubert Gattringer, Andreas Mueller.- Sensor-based loops and branches for playback-programmed robot systems, by Michael Riedl, Eric Mathias Orendt, Dominik Henrich.- On Latencies and Noise Effects in Vision-Based Control of Mobile Robots, by Mohammad M. Aref, Juho Vihonen, Reza Ghabcheloo, Jouni Mattila.- A Novel Method for Geometric Robot Calibration Using Laser Pointer and Cameras, by Hubert Gattringer, Matthias Neubauer, Dominik Kaserer, Andreas Mueller.- Redundant Robotic Manipulator Path Planning for Real-Time Obstacle and Self-Collision Avoidance, by Tuomo Kivelä, Jouni Mattila, Jussi Puura, Sirpa Launis.- A Low-cost Experimental Device for Compliant Physical Human-Robot Interaction, by Dániel Rácz, Mátyás Takács, Péter Galambos, János Somló.- Using spring-damper elements to support human-like push recovery motions, by Ruth Malin Kopitzsch, Katja Mombaur.- Validation of Relevant Parameters of Sensitive Manipulators for Human-Robot Collaboration, by David Kirschner, Andreas Schlotzhauer, Mathias Brandstötter, Michael Hofbaur.- Optimization-based methods for planning and control of environment-aware robotic systems.- Preliminary design of an electropneumatic automatic machine for herbaceous grafting, by Guido Belforte, Gabriella Eula, Terenziano Raparelli, Silvia Sirolli, Pietro Piccarolo, Paolo Gay, Davide Ricauda, Lorenzo Comba.- A Falling Motion Strategy for Humanoids Based on Motion Primitives of Human Falling, by Libo Meng, Zhangguo Yu, Weimin Zhang, Xuechao Chen, Marco Ceccarelli, Qiang Huang.- Legged robot strategies for climbing stairs, by Mircea Nitulescu, Mircea Ivanescu, Sorin Manoiu-Olaru, Dong Hai Nguyen Van.- Kinematic Path Control of a Redundant Robot Arm in Sliding Mode, by Evgeniy Krastev.- Precise Positioning of a Robotic Arm Manipulator Using Stereo Computer Vision and Iterative Learning, by Kaloyan Yovchev, Denis Chikurtev, Nayden Chivarov, Nedko Shivarov.- A Receding Horizon Push Recovery Strategy for Balancing the iCub Humanoid Robot, by Stefano Dafarra, Francesco Romano, Francesco Nori.- Neural Networks for Real-Time, Probabilistic Obstacle Detection, by Tobias Werner, Josua Bloeß, Dominik Henrich.- Vision systems.- Cloud Robot Vision Services Extend High-performance Computing Capabilities of Robot Systems, by Florin Daniel Anton, Theodor Borangiu, Silvia Anton, Silviu Raileanu.- A robotic 3D vision system for automatic cranial prostheses inspection, by Maria Cristina Valigi, Silvia Logozzo, Gabriele Canella.- Automated, Depth Sensor Based Object Detection and Path Planning for Robot-Aided 3D Scanning, by Jakob Ziegler, Hubert Gattringer, Dominik Kaserer, Andreas Mueller.- Collision Avoidance System for Collaborative Robotics, by Stefano Mauro, Leonardo Sabatino Scimmi, Stefano Pastorelli.- Mobile robots and path planning design and construction of a demonstrative Heritagebot Platform, by Marco Ceccarelli, Daniele Cafolla, Matteo Russo, Giuseppe Carbone.- Estimation of the Traversal Time for a Fleet of Industrial Transport Robots, by Clemens Mühlbacher, Gerald Steinbauer, Stephan Gspandl, Micheal Reip.- Adapting Edge Weights for Optimal Paths in a Navigation Graph, by Clemens Mühlbacher, Gerald Steinbauer, Stephan Gspandl, Micheal Reip.- Advanced Modelling Techniques for Flexible Robotic Systems, by Mariapaola D'Imperio, Cristiano Pizzamiglio, Daniele Ludovico, Giancarlo Genta, Darwin Caldwell, Ferdinando Cannella.- Autonomous Mobile Manipulation using ROS, by Heiko Engemann, Patrick Wiesen, Stephan Kallweit, Harshavardhan Deshpande.- Automation and robotics for vehicles.- Team of Pneumatic ASi-controlled Climber Robots for Ships Inspection, by Enrico Ravina.- Elasto-kinematic characteristics of Car Sus-pensions with magnetorheological bushings, by Renato Brancati, Giandomenico Di Massa, Ernesto Rocca, Cesare Rossi, Sergio Savino, Francesco Timpone.- Delay-dependent criteria for robust lateral stability control of articulated vehicles, by Mojtaba Sharifzadeh, arash farnam, Adolfo Senatore, Francesco Timpone, Ahmad Akbari.- Comparison of modelling tools for the assessment of the parameters of driving assistance solutions, by Flavio Farroni, Guido Fusco, Luigi Pariota, Sebastian Rosario Pastore, Aleksandr Sakhnevych, Francesco Timpone.- Modeling, Simulation and Control of a 4WD Electric Vehicle with In-Wheel Motors, by Raffaele Iervolino, Aleksandr Sakhnevych.- Path T…