Romansy 14, Softcover reprint of the original 1st ed. 2002 Theory and Practice of Robots and Manipulators Proceedings of the Fourteenth CISM-IFToMM Symposium CISM International Centre for Mechanical Sciences Series, Vol. 438

Mechanics, Motion Control, Sensing and Programming, Synthesis and Design, Legged Locomotion and Biomechanical Aspects of Robots and Manipulators ? world view of the state of the art. Characterization: This volume presents the latest contribution to the theory and practice of modern robotics given by the world recognized scientists from Australia, Canada, Europe, Japan, Mexico, Singapore and USA.

Preface.- Adam Morecki Memorial Session: In Memory of Professor Adam Morecki.- Keynote Lectures: Virtual Prototyping of the Combined Wheeled and Legged Robot ALDURO; From Industrial to Service Robots, an Important Paradigm Shift; Humanoid Robotics: New Trend in Robot Research and Industry in Japan.- Mechanics: Contributions to the Modelling of Human Joints; Mathematical Characterization of the Workspace of a 6-DOF Parallel Robot for Reverse Engineering; Geometric Errors Versus Calibration in Manipulators with Less that 6 DOF; Hamiltonian Formulation of the Constrained Dynamics of a Tendon Driven Parallel Mechanism; Inverse Dynamic Analysis of Parallel Manipulators with 3 or 6 Degrees of Freedom; Neighboring Special Configurations of Parallel Manipulators; Dynamic Equations of Parallel Robots in Minimal DIimensional Parameter-Linear Form; Pose, Posture, Formation and Contortion in Kinematic Systems; Mises Derivatives of Motors and Motor Tnesors.- Motion Control: Control of the Omnidirectional Mobile Robot MARGe; Admittance Model Hptic Interaction for Large Workspace Teleoperation; A Self-tuning Fuzzy Robotic Force Controller; Configuration Control of a Flexible Micro Robotic Arm for Catheter-type Microrobot; Design of a PID Controller for a Flexible Five-Bar Closed-Chain Planar Manipulator; Manipulation of Micro-objects using Adhesion Forces and Dynamical Effects in Unconstrained Environment; Trajectory Tracking for Robot Manipulator Using Generalized Velocity Components; Advanced Control of Robot Compliance Tasks Using Hybrid Intelligent Paradigms; Digital Force Control in Rehabilitation Robotics; Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation; Computer Control of a Robot for Realization of a Smooth Motion; Dynamic Emulation of Space Robot in One-g Environment using Hardware-in-the-Loop Simulation; Path Planning Algorithm Among Obstacles by Considering a Maipulability Index; Adaptive Excitation of a Spring Motion of an Object Across Plane Obstacles; How to Apply Hybrid Position/Force Control to Robots Interacting with Dynamic Environment.- Sensing and Programming: A Catadioptric System for 3D Optical Measurements; Integration Policy for Critical Multi-layered Distributed Robotics Applications; A New Single Frame Pose Estimation Device for Robotics: Theory and Simulation Results; The Highest End 3D Transmission System for the Remote Control; Motion Generators in MRROC++ Based Robot Controllers.- Synthesis and Design: Development of an Antropomorphic Talking Robot to Mechanically Produce Human Voices; Evolutionary Pptimization of Mechanical and Control Design Application to Active Enoscopes; Experimental Validation and Tests of Operation Characteristics of a Parallel-Serial Manipulator; Design and Experimentation of Shape Memory Alloy Wire Bundle Actuators; 3-DOF Planar Positioning-Prientation Mechanisms with Links and Large-Deflective Hinges; A Family of Novel Orientational 3-DOF Parallel Robots; Integrated Design and Analysis of a Novel Schönflies-Motion Generator; Telerobotic Device for Roadway Debris Vacuuming; ROBIAN Hip Joint: Analysis, Design and Simulation; Design of Linear Delta Robot: Compromise Between Manipulability and Workspace Size; On the Dimensional Synthesis of Spatial Four- and Five-Bar Linkage.- Legged Locomotion: On the Turn of Walking Machines with Moving Propellers Made on the Basis of Cycled Mechanisms; Gait Generation and Mechatronic Design of Planar Walker; Design and Realization of Jogging Johnnie; Four DOF TORSO Dynamic Effects on Biped Walking Gait; Inverse Dynamics Power Saving Control of Walking Machines; Stabilization Walking Control for Human-like Biped Robots; The Significance of Leg Mass in Modeling Quadrupedal Running Gaits; Using the Head to Stabilize a Quadrupedal Walker; Analysis of Quadruped LAVA Features: Speed, Energy Efficiency and Selected Motion Abilities; Mathematical Model of Worm-like Motion Systems with Finite and Infinite Degree of Freedom.- Biomechanical Aspects: Human-like Head Robot WE-3RV for Emotional Human-Robot Interaction; Force and Position Control of a SMA Actuated Endoscope; Human Symbiotic Humanoid Robot with Whole-body Compliance; Patient Simulator for Mouth Opening and Closing Training.- Appendix A: Programme and Organizing Committee.- Appendix B: List of Participants