Advances in Service and Industrial Robotics: RAAD 2021

Preface
Organization
Program Chair
Program Committee
Contents
Mechanical Design and Kinematics
Design and Analysis of 2 DOF Elbow Prosthesis
1 Introduction
2 Design Methodology of the Prosthesis
3 Actuator’s Prosthesis Selection
4 Design of the Transmissions
4.1 Design of the Worm Drive
4.2 Design of the Pinion Crown Transmission
5 Simulation and Results
6 Conclusions
7 Acknowledgement
References
Design and Preliminary Testing of a Novel Semi-automatic Saffron Harvesting Device
1 Introduction
2 Functional Analysis and Design Requirements
3 Conceptual Design
4 Dimensional and Mechanical Design
4.1 3D Modeling
4.2 Cam and Leaf-Spring Design
5 Preliminary Experimental Test
5.1 3D Printing and Assembly
5.2 Preliminary Experimental Validation
6 Conclusion
References
The Stiffness Model of the Compliant Positioning Mechanism with Watt’s Linkage
1 Introduction
2 XY Positioning Stage
2.1 Stiffness Model
2.2 FEM Analysis and Comparison of Results
3 Conclusion
References
Workspace and Singularity Zones Analysis of a Robotic System for Biosamples Aliquoting
1 Introduction
2 Robotic System Model Design
3 Algorithm Synthesis for Workspace Determination
4 Simulation Results
5 Conclusion
References
Preliminary Observations for Functional Design of a Mobile Robotic Manipulator
1 Introduction
2 Robot Mobility
3 Task Oriented Optimization
4 Conclusions
References
Development of a Low-Cost Force Sensory System for Force Control via Small Grippers of Cooperative Mobile Robots Used for Fabric Manipulation
1 Introduction
2 Problem Statement
3 The Force Sensory System (FSS) and the Control Approach
3.1 Development and Experimental Testing of the FSS
3.2 Control Approach in a Leader-Follower (L-F) Formation for Fabric Transfer
4 Experimental Validation
5 Conclusions
References
Industry Robotics
Extended State Automata for Intuitive Robot Programming
1 Introduction
2 Related Work
3 Automata Model
4 Programming System
5 Evaluation
6 Conclusion
References
Identification of a UR5 Collaborative Robot Dynamic Parameters
1 Introduction
2 Mathematical Model of the UR5 Collaborative Robot
2.1 Regressor Reduction
2.2 Excitation Trajectory
3 Results
3.1 Algorithm Validation
3.2 Effect of Temperature on Dynamic Parameters
4 Conclusions
References
Assessment of Universal Robot Force Control and External Force Compliance Device for Surface Treatment
1 Introduction
2 Setup
3 Test Scenarios
3.1 Ramp Profile
3.2 Straight Profile
4 Test Evaluation
5 Force Control Analysis
6 Conclusion
References
Kinematic and Dynamic Assessment of Trunk Exoskeleton
1 Introduction
2 Materials and Methods
2.1 Exoskeleton
2.2 Experimental Tests
3 Results and Discussion
4 Conclusion
References
Development of a Franka Emika Cobot Simulator Platform (CSP) Dedicated to Medical Applications
1 Introduction
2 Kinematic Modeling
3 Dynamic Modeling
4 Conclusion
References
Quality Inspection of Household Machines Using Collaborative Robot
1 Introduction
2 Robot Inspection Cell
3 Torque Sensing Problems
4 Typical Inspection Tasks
4.1 Button Pressing Test
4.2 Button Turn Test
5 Conclusions
References
Learning and Vision
Accelerating Robot Reinforcement Learning with Accumulation of Knowledge
1 Introduction
2 Accumulation of Knowledge Using Neural Network
3 Trajectory Encoding and Learning
4 Experimental Evaluation
4.1 Experimental Setup
4.2 Task
4.3 Methodology
5 Results
6 Conclusion
References
Detection of Fungus in Gladiolus Fields Using a Quadcopter
1 Introduction
2 Related Work
3 Proposed Methodology
3.1 Dataset Collection
3.2 Frame Extraction and Ground Truth Generation
3.3 Image Processing and Plants Extraction
3.4 Learning and Classification
4 Experiments and Results
5 Conclusion
References
Angular Dependency of the Zero Moment Point
1 Introduction
2 The Zero Moment Point
2.1 The Standard Cartesian Definition
2.2 The Angular Definition
3 Simulations
4 Discussion
5 Conclusion
References
Marker-Based Automatic Dataset Collection for Robotic Vision System
1 Introduction
2 Motivation and Experimental Setup
3 Workflow of the Robotic Vision Module (RVM)
3.1 Algorithm for Marker-Based Automated Dataset Collection and Object Recognition
3.2 Workflow of the RVM
4 Experiments
5 Conclusion and Discussion
References
Rehabilitation Robotics and Exoskeletons
Design of a Cable-Driven Parallel Robot for the Cervical Spine Motion Training
1 Introduction
2 Head Joints Range of Motion
3 Design of the End-Effector and CDPR Structure Selection
4 Kinetostatic Model of the CDPR
5 Results and Discussions
6 Conclusion
References
Design of a Cable-Driven Robot for Elbow and Wrist Rehabilitation
1 Introduction
2 Upper Limb Motion and Requirements
3 Cable Driven Device for Upper Limb Motion Assistance
4 Simulation and Performances Evaluation
5 Lab Prototype and Tests
6 Conclusion
References
Controllable Passive Transtibial Prosthesis - Design
1 Introduction
2 Prosthesis Design
2.1 General Presentation
2.2 Foot Construction
2.3 Universal Ankle Joint
2.4 Magnetorheological Stop-Valve
2.5 Sensorial and Control System
3 FEM Analyses of Main Elements
4 Conclusions
References
A Study of Feasibility for a Novel Cable-Driven Upper-Limb Exoskeleton with Magnetic Balancing
1 Introduction
2 Requirements for the Proposed Device
2.1 Desired Motions
2.2 Conceptual Design of a Novel Cable-Driven Upper-Limb Exercising Device
3 Energy Storage and Gravity Compensation System
4 Integration of the Magnetic-Spring System
5 Static Analysis
6 Conclusions
References
Robotic-Assisted Platform for Spinal Surgery: A Preliminary Study
1 Introduction
2 Experimental Setup
3 Preliminary Results
4 Conclusion
References
Using a Robot Calibration Approach Toward Fitting a Human Arm Model
1 Introduction
2 Materials and Methods
3 Results
4 Discussions
5 Conclusions
References
Feasibility Study of a Passive Pneumatic Exoskeleton for Upper Limbs Based on a McKibben Artificial Muscle
1 Introduction
2 Materials and Methods
2.1 Original Design of the Exoskeleton and PAM Modeling
2.2 Cam-Based Design of the Transmission System
3 Results and Discussion
4 Conclusion
References
Control
Adapting Behaviour of Socially Interactive Robot Based on Text Sentiment
1 Introduction
2 State-of-the-Art
3 Implementation
3.1 Textual Communication
3.2 Sentiment Analysis
3.3 Workflow
4 Experimentation and Evaluation
5 Conclusion
References
Modular Real-Time System for Upper-Body Motion Imitation on Humanoid Robot Talos
1 Introduction
2 Humanoid Robot Talos
2.1 Software Architecture
2.2 Body Tracking
3 Imitation Process
3.1 Joint Calculation
3.2 Safety Processing
4 Experimental Evaluation
5 Conclusions
References
Cloud-Enabled Bi-manual Collaborative Robot with Enhanced Versatility for Customized Production
1 Introduction
2 Progress Beyond State-of-the-Arts
3 Mechanical Designs
4 Intelligent Control Architecture
5 Use Case
6 Conclusion
References
Multi-objective Trajectory Tracking Optimization for Robots with Elastic Joints
1 Introduction
2 Problem Statement
3 Proposed Approach
3.1 Motion Control and Planning
3.2 Multibody Dynamics Simulation
3.3 Control Optimization Using Genetic Algorithms
4 Simulation Results
5 Conclusion
References
Stabilization of Mobile Weapon Aiming
1 Introduction
2 Vector Bases
3 Initial Orientation
4 Incremental Change of Orientation
5 Discrete Orientation Changes
6 Geo Coordinates Stabilization
7 Conclusion
References
Using the Digital Twin Concept to Design and Validate a Robotized Bin Picking Process
1 Introduction
2 Application Description
3 Collision Free Handling Strategy
4 RobotStudio Implementation
5 Conclusions and Future Work
References
Preliminary Study of Self-adaptive Constrained Output Iterative Learning Control for Robotic Manipulators
1 Introduction
2 Problem Formulation
3 Self-adaptive Constrained Output ILC
4 Simulation Results
5 Conclusion
References
Author Index