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.
Robot kinematics and dynamics.- Comparative Analysis of
Quasi-differential Approaches in Inverse Kinematics, by Bertalan Csanįdi,
Jįnos 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 Dobrovodskż, 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
lajpah, 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 Dįniel Rįcz, Mįtyįs Takįcs, Péter Galambos, Jįnos
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 DImperio, 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 Tracking Control for Autonomous
Driving Applications, by Antonio Tota, mauro velardocchia, Levent Guvenc.-
UAV: Innovation and new application fields in the future.- Electromagnetic
characterization of installed antennas through UAVs, by Irene Aicardi, Pietro
Bolli, Andrea Lingua, Fabio Paonessa, Marco Piras,Giuseppe Virone.- Remote
Sensing from RPAS in Agriculture: an Overview of Expectations and Unanswered
Questions, by Enrico Borgogno Mondino.- A Self-adapting Method for 3D
Environment Exploration Inspired by Swarm Behaviour, by Jan Zelenka, tomas
kasanicky, Ivana Budinska.- Analysis & Modelling of Powertrain Components for
an Efficient UAV Design, by Mario Silvagni, Marcello Chiaberge, Federico
Tessari.- Camera Selection and Flight Planning for Post Processing 3D
Reconstruction Automatization, by Mario Silvagni, Marcello Chiaberge, Osman
Abdalla Sidahmed Osman.- A modular Cloud Robotics architecture for data
management and mission handling of UnmannedRobotic Services, by Marcello
Chiaberge, Mario Silvagni, Claudio Sanguedolce, Gianluca Dara.- Application
of an inspection robot composed by collaborative terrestrial and aerial
modules for an operation in agriculture, by Roberto Grassi, Rea Pierluigi,
Erika Ottaviano, Paolo Maggiore.- Industrial applications.- Airbrush robotic
painting system: experimental validation of a colour spray model, by Lorenzo
Scalera, Enrico Mazzon, Paolo Gallina, Alessandro Gasparetto.-
Spring design for motor torque reduction in articulated mechanisms, by Paolo
Boscariol, Giovanni Boschetti, Paolo Gallina, Chiara Passarini.- A robotic
design for a MIM based technology, by Hermes Giberti, Luca Sbaglia.- Robust
One-Shot Robot Programming by Demonstration using Entity-based Resources, by
Eric Mathias Orendt, Michael Riedl, Dominik Henrich.- The "Robot Mechanics"
course experience at Politecnico di Milano, by Hermes Giberti, Enrico Fiore.-
Mechatronic Design and Prototype of a 4-DOFs Hot Wire CNC FoamCutting
Machine, by Giorgio Figliolini, Rea Pierluigi, Carlo Cocomello.- Robotic
grippers.- Development of a NEMS-Technology based Nano Gripper, by Andrea
Veroli, Alessio Buzzin, Rocco Crescenzi, Fabrizio Frezza, Giampiero de
Cesare, Vito DAndrea, Francesco Mura, Matteo Verotti, Alden Dochshanov,
Nicola Pio Belfiore.- A 3-Finger Robotic Gripper for Grasping Fabrics Based
on Cams-Followers Mechanism, by Panagiotis Koustoumpardis, Sotiris Smyrnis,
Nikos Aspragathos.- Experimental results for QuBu Gripper: a 3-Jaw electric
gripper, by Luca Girolamo Butera, Giuseppe Quaglia.- Experimental evaluation
and comparison of low-cost adaptive mechatronic grippers, by Giovanni
Carabin, Ilaria Palomba, Dominik Matt, Renato Vidoni.- The experience at
University of LAquila on shape memory alloys actuators, by Francesco
Durante, Pierluigi Beomonte Zobel, Terenziano Raparelli.- Humanoids &
cognitive systems.- Human Robot Interaction using Dynamic Hand Gestures, by
Zuhair Zafar, Daniel Alejandro Salazar Villarreal, Salah Al-Darraji, Djordje
Urukalo, Berns Karsten, Aleksandar Rodic.- Ability of humanoid robot to
perform emotional body gestures, by Djordje Urukalo, Ljubinko Kevac, Zuhair
Zafar, Salah Al-Darraji, Aleksandar Rodic, Berns Karsten.- Supporting a
Human-Aware World Model through Sensor Fusion, by Dominik Riedelbauch, Tobias
Werner, Dominik Henrich.- Interactive Communication Between Human and Robot
Using Nonverbal Cues, by Salah Al-Darraji, Zuhair Zafar, Berns Karsten,
Djordje Urukalo, Aleksandar Rodic.- Building of hyper-redundant
under-actuated soft robotic arm with 20 d.o.f. , by Ilija Stevanovic,
Aleksandar Rodic, Milo Jovanovic, Marija Tomic.- Safety related devices and
applications.- Structure optimization of the Cable Driven Legs Trainer, by
Houssein Lamine, Med Amine Laribi, Sami Bennour, Lotfi Romdhane, Said
Zeghloul.- A novel kinematic of a 4 d.o.fs haptic device based on the delta
robot architecture, by Houssem Saafi, Celestin Preault, Med Amine Laribi,
SaidZeghloul.- Design and Operation of a Novel Hexapod Robot for Surveillance
Tasks, by Giuseppe Carbone, Fernando Gomez-Bravo.- Exoskeletons and body
shells: prospectives with new materials, design and brain control.- Design
and Lab Tests of a Scaled Leg Exoskeleton with Electric Actuators, by
Cristian Iancu, Marco Ceccarelli, Erwin-Christian Lovasz.- Textile rotary
pneumatic actuator for rehabilitation, by Terenziano Raparelli, Alexandre
Ivanov, Fabio Eduardo Palladino.- Neural and physiological measures to
classify users intention and control exoskeletons for rehabilitation or
assistance: the experience @NearLab, by Simona Ferrante, Emilia Ambrosini,
Claudia Casellato, Marta Gandolla, Alessandra Laura Giulia Pedrocchi,
Giancarlo Ferrigno.- Lower Limb Exoskeleton with Hybrid Pneumaticaly Assisted
Electric Drive: Models, by Igor Orlov, Anton Aliseychik, Elena Kolesnichenko,
Vladimir Pavlovsky, Dmitriy Gribkov, Alexey Podoprosvetov.- Wearable robotic
systems for motion assistance.- Exoskeleton for Gait Training in Spinal Cord
Injured people: clinical analysis and ethical dilemmas, by Luciano
Bissolotti, Paola Zuccher, andrea zenorini, Sonia Chiari, Paolo Gaffurini,
Armando Pasini, Federico Nicoli.- Wearable hearing support system tapping
toward sound source, by Ryuichi Shimoyama.- Qualitative Assessment of a
Clutch-Actuated Ankle Exoskeleton, by Miha Deman, Jan Babic, Andrej Gams.-
Shared Control for Human-Robot Cooperative Manipulation Tasks, by Tadej
Petric, Miel Cevzar, Jan Babic.- Open Source EMG Device For Controlling a
Robotic Hand, by Miel Cevzar, Tadej Petric, Jan Babic.- Assistive strategies
for a back-support exoskeleton: experimental evaluation, by Stefano Toxiri,
Jesus Ortiz, Darwin Caldwell.- FEX a Fingers Extending eXoskeleton for
Rehabilitation and Regaining Mobility, by Patrizio Sale, Giovanni Stellin,
Stefano Masiero, Francesco Becchi, Wiktor Sieklicki.- Ankle prosthesis with
an active control of the pitch and the release of the energy, by
MicheleGabrio Antonelli, Stefano Alleva, Francesco Durante, Pierluigi
Beomonte Zobel.- Development of an active orthosis for inferior limb with
light structure, by Francesco Durante, Pierluigi Beomonte Zobel, Terenziano
Raparelli.- Technological rehabilitation.- P.I.G.R.O.: an active exoskeleton
for robotic neurorehabilitation training driven by an electro-pneumatic
control, by Katiuscia Sacco, Guido Belforte, Gabriella Eula, Terenziano
Raparelli, Silvia Sirolli, Elisabetta Geda, Giuliano Carlo Geminiani, Roberta
Virgilio, Marina Zettin.- Study and experimentation of innovative textile
pneumatic muscle prototypes, by Guido Belforte, Gabriella Eula, Alexandre
Ivanov, Terenziano Raparelli, Silvia Sirolli.- Design and Control of Linkage
Exoskeletons in Wheelchair, by Gao Huang, Marco Ceccarelli, Weimin Zhang, Fei
Meng, Tao Sun, Qiang Huang.- An ethical reflection on the application of
cyber technologies in the field of healthcare, by Adelaide Conti, Elena
Azzalini, Cinzia Amici, Valter Cappellini, Rodolfo Faglia, Paola Delbon.-
Hand robotic rehabilitation: from hospital to home, by Alberto Borboni, Mauro
Serpelloni, Michela Borghetti, Cinzia Amici, Francesco Aggogeri, Davide
Fausti, Massimo Antonini, Maurizio Mor, Emilio Sardini, Rodolfo Faglia.-
Cardiopulmonary resuscitation devices: preliminary analysis, by Riccardo
Adamini, Francesco Aggogeri, Manuela Baronio, Alberto Borboni, Elisabetta Dal
Gal, Nicola Pellegrini, Carlo Remino.- ERRSE: Elbow Robotic Rehabilitation
System with an EMG-based force control, by Monica Tiboni, Giovanni Legnani,
Matteo Lancini, Mauro Serpelloni, Davide Fausti, Massimiliano Gobbo.- Paths
Slicing Analysis as a Therapists Intervention Tool for Robotic
Rehabilitation, by Mozafar Saadat, Alireza Rastegarpanah, Che Abdullah, Hamid
Rakhodaei, Alberto Borboni.- Surface EMG for human-machine interfaces: new
knowledge and open issues, by Marco Gazzoni, Alberto Botter, Taian Vieira.-
Upper limb rehabilitation robotic system requirements analysis, by Dorin
Popescu, Florin Manta, Ligia Rusu, Taina-Elena Avramescu, Mihaela Zavaleanu.-
Biomedical applications.- Human energy involved in manual and mechanically
facilitating the harvesting of saffron flowers, by Andrea Manuello Bertetto,
Gianmario Satta, Alberto Concu.- Stiffness Characterization of biological
tissues by means of MEMSTechnology based Micro Grippers under Position
Control, by Alvise Bagolini, Pierluigi Bellutti, Paolo Di Giamberardino, Imre
J. Rudas, Vito DAndrea, Matteo Verotti, Alden Dochshanov, Nicola Pio
Belfiore.- Bio-mechatronic modules for robotic massage, by Maksim Arkhipov,
Igor Orlov, Vadim Golovin, Liudmila Kocherevskaya, Eugeny Vzhesnevsky, Uglev
Aleksander.- Control of force impulse in human-machine impact, by Carlo De
Benedictis, Walter Franco, Daniela Maffiodo, Carlo Ferraresi.- Dionis
Surgical Positioner - Design for high stiffness of a parallel structure, by
Jeremy Olivier, Jerry Bielmann, Mohamed Bouri, Hannes Bleuler.- Method for
measuring the displacementof cadaveric elbow after the section of medial
collateral ligament anterior and posterior bundles, by Daniele Borzelli,
Laura Gastaldi, Cristina Bignardi, Alberto L. Audenino, Mara Terzini, Arman
Sard, Stefano Pastorelli.- A new testing device for the role of the trunk in
force production and in balance control in disabled sitting athletes, by
Valeria Rosso, Laura Gastaldi, Walter Rapp, Benedikt Fasel, Yves
Vanlandewijck, Stefan Lindinger, Vesa Linnamo.- Two-Segments Foot Model for
Biomechanical Motion Analysis, by Elisa Panero, Laura Gastaldi, Walter Rapp.-
Validation of three KUKA Agilus robots for application in neurosurgery, by
Marko vaco, Petar Koren, Bojan Jerbic, Josip Vidakovic, Bojan ekoranja,
Filip uligoj.- A New Bone Fixation Device for Human Joint Test Rig Machine,
by Luca Luzi, Nicola Sancisi, Michele Conconi, Vincenzo Parenti-Castelli.-
Cesare Rossi, ad memoriam.- Performance Analysis of the Automata in a
Blossoming Flower Clock in the 18th Century, by Yu-Hsun Chen, Marco
Ceccarelli, Hong-Sen Yan.- Design Issues for an Inherently Safe Robotic
Rehabilitation Device, by Giuseppe Carbone, Doina Pīsla.- Influence of the
tendon design on the behavior of an under-actuated finger, by Vincenzo Niola,
Cesare Rossi, Sergio Savino.- Author Index.
Daugiau apie elektronines knygas